Engineering
Volume 5, Issue 10 (October 2013)
ISSN Print: 1947-3931 ISSN Online: 1947-394X
Google-based Impact Factor: 0.66 Citations
Control Strategy of Vibrational Capsubot in Viscoelastic Environment ()
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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.
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