ELECTROMAGNETIC COIL SYSTEM FOR DRIVING CONTROL OF A MICRO-ROBOT

摘要

The present invention relates to an electromagnetic coil system for driving control of a microrobot. More specifically, the present invention relates to an electromagnetic coil system which has a structure with fewer number of electromagnetic coils compared with a conventional electromagnetic coil system which needs a pair of Helmholtz coils and a pair of Maxwell coils to reduce the size of an operation system and power consumption in order to improve power efficiency and space efficiency. According to an embodiment of the present invention, the electromagnetic coil system for driving control of a microrobot includes a pair of x-axis Helmholtz coils each having a central axis of winding on the x-axis; a pair of y-axis Helmholtz coils each having a central axis of winding on the y-axis; a position recognition system detecting the position and direction of a microrobot in a working space; a control unit controlling the amount of current flowing in the x-axis Helmholtz coils or the y-axis Helmholtz coils to control the movement of the microrobot based on the information on the movement of the microrobot obtained by the position recognition system and pre-inputted information on paths of the microrobot; and a current amplifying unit responding to a current control command of the control unit to supply the corresponding current to each of the Helmholtz coils, wherein the pair of x-axis Helmholtz coils are disposed to face each other, the pair of y-axis Helmholtz coils are disposed to face each other, and the x-axis Helmholtz coils and the y-axis Helmholtz coils are installed to cross each other at the right angle to form the working space of the microrobot.