The Control System for 5-DOF Magnetic Levitation Capsule Robot

摘要

For the successful and efficient operation of capsule endoscope robots in the human stomach, high-accuracy and multi-degree of freedom (MDOF) motion control of capsule robots is crucial. This paper constructs a human-sized magnetic control system and proposes a 5-DOF motion control method that utilizes electromagnetic coils and a localization approach based on a simulated annealing-particle swarm optimization algorithm, aiming to enhance the accuracy of deflection control. The results indicate that the proposed methods achieve excellent levitation stability and improved translation and orientation control accuracy, highlighting the potential benefits of employing this method in the control system for capsule robots.