4개의 전자기 코일을 이용한 위치기반의 전자기장 제어에 관한 연구

Recently, various wireless manipulating methods for microrobots have been proposed. Among these methods, an electromagnetic actuation (EMA) method showed free motion and accurate controllability of wireless microrobots. In previous our study, eight electromagnetic coils (two stationary pairs of Helmholtz coil and two stationary pairs of Maxwell coil) were used for 2-DOF (Degree Of Freedom). In contrast, this paper proposed a new EMA system with only four electromagnetic coils, which can realize 2-DOF (translation and roll motion). Generally, for the control of many EMA systems, it was assumed that the electromagnetic field in workspace is identical. However, the electromagnetic field was distorted in boundary of the workspace owing to the characteristic of the electromagnetic field. To improve the locomotive accuracy of the microrobot, the position based magnetic field control method for the microrobot was developed. Finally, through the position based magnetic field control method in the proposed EMA system, the microrobot can be accurately moved along the desired path.