Abstract

With the potential applications of capsule robots in medical endoscopy, accurate dynamic control of the capsule robot is becoming more and more important. In the scale of a capsule robot, the friction between the capsule and the environment plays an essential role in the dynamic model, which is usually challenging to model beforehand. In the paper, a tethered capsule robot system driven by a robot manipulator is built, with a strong magnetic Halbach array mounted on the robot’s end-effector to actuate the capsule. The friction between the capsule and the environment is learned with demonstrated trajectories to increase the control accuracy. Experimental results shown an improvement of 5.6% in terms of tracking error and the stability of the contact force is improved by about 6.2%.

Video

Acknowledgements

The website template was borrowed from Jon Barron.