Microrobot control system and method
AssigneePurdue Research Foundation
InventorDavid John Cappelleri
Life of this patent
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Abstract
The robot control system configured to control a robot includes a gantry frame having an x-axis guide, a y-axis guide, a first arm, and a second arm. The y-axis guide is coupled to the x-axis guide. The y-axis guide is selectively movable along an x-axis of the x-axis guide. Each of the first arm and the second arm are coupled to the y-axis guide. Each of the first arm and the second arm are independently movable along a y-axis of the y-axis guide. The first arm and/or the second arm are independently movable along a z-axis. A magnet device is coupled to the first arm. An imaging device is coupled to the second arm.
Claims20
A robot control system configured to control a robot, comprising:
- a gantry frame including an x-axis guide, a y-axis guide, a first arm, and a second arm, wherein the y-axis guide is coupled to the x-axis guide, each of the first arm and the second arm are coupled to the y-axis guide, at least one of the first arm and the second arm are movable along a z-axis;
- a magnet device coupled to the first arm and configured to apply a magnetic field to the robot to magnetically actuate the robot;
- an imaging device coupled to the second arm and configured to generate real-time images of the robot while the magnetic field is applied to the robot;
- and
- a processor configured to control the magnet device based at least in part on image data generated by the imaging device to control movement of the robot.
A method of using a robot control system to control a robot, the method comprising the steps of:
- providing the robot control system having a gantry frame including an x-axis guide, a y-axis guide, a first arm, and a second arm, the y-axis guide is coupled to the x-axis guide, each of the first arm and the second arm are coupled to the y-axis guide, at least one of the first arm and the second arm are movable along a z-axis, a magnet device coupled to the first arm, and an imaging device coupled to the second arm;
- providing the robot;
- applying a magnetic field to the robot via the magnetic device to magnetically actuate the robot;
- imaging the robot via the imaging device while applying the magnetic field to the robot;
- and
- controlling application of the magnetic field based at least in part on image data generated by the imaging device to control movement of the robot.
Dependencies are inferred from the claim text.