Control Strategy of Vibrational Capsubot in Viscoelastic Environment

Cheng Zhang, Renjia Tan, Hao Liu, Hongyi Li

Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China.

DOI: 10.4236/eng.2013.510B087                

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.

 

Keywords

Control Strategy; Capsubot; Viscoelastic Environment; Swing

Conflicts of Interest

The authors declare no conflicts of interest.

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