3-DOF Mobile Platform Enhanced Microrobot Control System

In this paper, we proposed an electromagnetic drive system for magnetic micro robots based on a three degree of freedom(3-DOF) mobile platform. This system utilizes a single electromagnetic coil for generating concentric magnetic fields to achieve non-contact motion control of microrobots in solution. A detailed introduction to the composition and functions of each part of the system was presented. The entire system was composed of electromagnetic drive module, precision motion control module, machine vision detection module, and control software. Through the force analysis of the microrobot in the magnetic field, dynamic model was established for the motion control of microrobot. In order to improve the performance of the system, PID control algorithm was developed for the control of microrobot. Experiment results showed that trajectory tracking could be achieved for the magnetic microrobot with the proposed electromagnetic drive system.