Patent ID: 11938629
Assignee: JIANGNAN UNIVERSITY
Field: Medical technology (Instruments)
Classification: CPC A  B  H | IPC B

Claim 8:
9. The micro-robot control method based on double closed loop three-dimensional path tracking according to claim 6, wherein in a case of no disturbance, a desired direction of movement of the magnetic micro-robot is an axial direction of the magnetic micro-robot, the desired direction of movement is represented by a first direction angle and a first pitch angle, the first direction angle is an angle between a projection of a vector vp to an XOY plane and an X axis, the first pitch angle is an angle between a vector vp and the XOY plane, due to the impact of gravity and disturbance, the actual axial direction of the magnetic micro-robot is represented by a second direction angle and a second pitch angle, and then a direction compensation is performed on the operating magnetic micro-robot to obtain a corresponding relationship between the actual axial direction and a desired direction of movement: θd1=θd−δθd, and θi1=θi−δθi,
wherein θd1 is the second direction angle, θd is the first direction angle, δθd is a compensation direction angle in a horizontal plane, the horizontal plane is the XOY plane, θi1 is the second pitch angle, θi is the first pitch angle, δθi is a compensation pitch angle in a vertical plane, and the vertical plane is a plane perpendicular to the XOY plane;
the direction angle error is θde=θd1−θdc, wherein θdc is a desired direction angle;
the pitch angle error is θie=θi−δθi−θic, wherein θic is a desired pitch angle;
an actual movement speed of the operating magnetic micro-robot is:, v
   =
   
    
     1
     
      cos
      ⁢
      
       δ
       
        θ
        ⁢
        i
       
      
      ⁢
      cos
      ⁢
      
       δ
       
        θ
        ⁢
        d
       
      
     
    
    ⁢
    
     v
     p
    
   
  
  ,
 

wherein vp is a desired movement speed, and v is an actual movement speed.