可控性
胶囊
机器人
非线性系统
粘弹性
计算机科学
控制理论(社会学)
模拟
控制工程
人工智能
控制(管理)
工程类
材料科学
数学
物理
生物
应用数学
复合材料
量子力学
植物
作者
Cheng Zhang,Hao Liu,Renjia Tan,Hongyi Li
标识
DOI:10.1177/0954411914523404
摘要
Active capsule endoscope could also be called capsule robot, has been developed from laboratory research to clinical application. However, the system still has defects, such as poor controllability and failing to realize automatic checks. The imperfection of the interaction model between capsule robot and intestine is one of the dominating reasons causing the above problems. A model is hoped to be established for the control method of the capsule robot in this article. It is established based on nonlinear viscoelasticity. The interaction force of the model consists of environmental resistance, viscous resistance and Coulomb friction. The parameters of the model are identified by experimental investigation. Different methods are used in the experiment to obtain different values of the same parameter at different velocities. The model is proved to be valid by experimental verification. The achievement in this article is the attempted perfection of an interaction model. It is hoped that the model can optimize the control method of the capsule robot in the future.
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