Method for controlling a microrobot and device for controlling a microrobot

Control Method for Microrobots and Device for Controlling Microrobots

This technology is a feedforward and disturbance observer control technique that generates a dynamic model of an object as a transfer function using position and control input signals of a microrobot in a fluid, and then performs real-time correction of control input signals for position commands by inverse modeling to observe disturbances.

Existing control methods rely on simple position error-based fixed-constant control without considering the dynamic characteristics of microrobots in viscous fluid environments, making precise control difficult and leaving them vulnerable to disturbances.

This technology constructs a disturbance observer by deriving an inverse model based on the microrobot's dynamic model and improves system response speed and positioning accuracy by combining the user's position command signal with the output of the feedforward/feedback controller to determine the final control input signal. It can be applied to robotic gripping, precision measurement, and automated equipment, enhancing the precision and accuracy of microrobot control by accounting for their dynamic characteristics.

‍

‍

Key Features:

• A control unit that determines the final control input signal for operating the microrobot based on a high-level control input signal derived from user input and an observed disturbance signal.
• A magnetic field generation unit that produces a magnetic field to operate the microrobot according to the control input signal.
• A position measurement unit that generates a position signal for the microrobot by tracking its location.
• A device for controlling microrobots.

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a micro-medical robot system for the treatment of chronic total occlusion in myocardial infarction.