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- W2021105756 abstract "This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA) was employed to optimize the dual-wheel's sizes for reducing the unnecessary torque consumption and improving the driving ability of the microrobot. A computer vision system contained two sets of feedback control is devised for the microrobot. Torque self-balance and current-limiting control approach are presented to ensure the accuracy of step movement. Experiment results demonstrate the feasibility of these concepts." @default.
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- W2021105756 date "2008-01-01" @default.
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- W2021105756 title "Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot" @default.
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- W2021105756 doi "https://doi.org/10.5772/5648" @default.
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