Optimal Control Of Magnetic Vector For Petal Shaped Capsule Robot In Bending Environment

Steering control of a capsule robot in curve environment by magnetic navigation is challenging. And there are some problems that should be tackled which are as shown follows: the first one is to solve wireless energy transmissions in curve environment, the second one is to develop robotic carriers able to steer smoothly inside the GI tract and the last one is to optimize the orientation of magnetic spin vector for better steering navigation in curve environment.The first problem can be solved using the magnetic field control capsule robot. Some scholars use the static permanent magnets to control the capsule robot posture and movement, since gradient of the magnetic generated by a single permanent magnet is large, the position control of the capsule robot is not precise enough. And the human gut and intestinal irregular friction movement of the robot is not continuous, and movement unstable. Uniform static magnetic field generated by two permanent magnets can not control the robot to move. Therefore, we propose a method using Helmholtz coil space universal which can produce rotating magnetic field to control the capsule robot posture, enabling spatial turn and attitude adjustment.For the second problem, we propose the petals profile capsule robot a universal rotating magnetic vector driven, swimming resistance and can effectively reduce the damage of intestinal and robot. The third problem, steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely. For the third problem, a petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented, and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed.To realize quick and non-contact steering swimming, a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation, achieving the initial optimal orientation of a universal magnetic spin vector. To further reduce robotic magnetic vibration, a main target method for optimizing its final orientation, which is used for fine adjustment, is employed under the constrains of the magnetic moments. Swimming experimental results in curve pipe verified the effectiveness of the optimization method, which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration. Because the human intestinal in the abdominal cavity is not entirely in the plane, only for the capsule robot in the shape of plane bending in the environment magnetic torque control direction optimization is not enough. The paper further, on the basis of study on the magnetic moment direction optimization of the capsule robot plane bending in the environment of space magnetic torque optimization in the space of smooth curves further analysis is made.