TITLE:
Control Strategy of Vibrational Capsubot in Viscoelastic Environment
AUTHORS:
Cheng Zhang, Renjia Tan, Hao Liu, Hongyi Li
KEYWORDS:
Control Strategy; Capsubot; Viscoelastic Environment; Swing
JOURNAL NAME:
Engineering,
Vol.5 No.10B,
December
17,
2013
ABSTRACT:
Active capsule endoscopy is becoming a research hotspot
in recent years. We design an active capsule robot (capsubot) with the
vibrational mode. The internal force-static friction control strategy which is
used in the capsubot is effective in rigid environment but not in viscoelastic
environment. A particular viscoelastic material whose parameters are confirmed
is set to the viscoelastic environment. We suppose that it is a periodic damped
oscillation system when the capsubot make a free vibration in the
environment. We propose a new control strategy whose principle is similar to a
swing in the environment. The simulation results show that the new strategy is
effective.