Control Strategy of Vibrational Capsubot in Viscoelastic Environment

DOI: 10.4236/eng.2013.510B087   PDF   HTML     3,174 Downloads   4,090 Views  


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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Zhang, C. , Tan, R. , Liu, H. and Li, H. (2013) Control Strategy of Vibrational Capsubot in Viscoelastic Environment. Engineering, 5, 424-428. doi: 10.4236/eng.2013.510B087.

Conflicts of Interest

The authors declare no conflicts of interest.


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