| 摘要 |
<p>The present invention relates to a method to control a microrobot using a coil system, and to an apparatus thereof. The method to control a microrobot using a coil system operates a microrobot using magnetic fields of a Helmholtz coil and a Maxwell coil. The method to control a microrobot comprises: a step of supplying a current value, previously designed to control the operation of a microrobot, to the individual coils in a coil system; a step of monitoring position information of the microrobot using a camera; a step of comparing an error signal, which is a difference between a set position information corresponding to the designed current value and the tracked position information, with a preset threshold; a step of calculating a control signal from the error signal through PID control when the error signal exceeds the threshold; and a step of compensating for the current value supplied to each of the coils in the coil system based on the control signal. Therefore, the method to control a microrobot using a coil system and the apparatus thereof can rapidly and accurately control a microrobot by obtaining a mutual error value from the position information of the microrobot obtained by a vision device and from set position information as a reference, and by generating a control signal through PID control in order to compensate for the error.</p> |
