Visual feedback control of electromagnetic microrobot

Being insufficient of conventional surgery technics, robotic technology applications increase in medical scope. A surgical cut to operate surgical operations, strongly harm to patients. Instead of this cut, subcentimeters hole can created and perform surgery in this hole, make less harmful for patients. For this method, robot arm mechanism and microrobot systems can be used. Robot arm mechanism also can be harmfull by the reason of has not enough flexibilty inside the body. Microrobots can be moved inside the body cavitiy and natural canals. By this mean, patient does not experience side effect of operations. In this thesis, planar electromangetic actuator is explained. Microrobot's position control is made with magnetic field. Mathematical model of electromagnetic field is created. Open loop control does not suitable for this system, because of non-uniform magnetic field inside the workspace and this system will use in medical scope. Linear Quadratic Regulator (LQR) was chosen to determine close loop feedback gain. Position datas can be taken from image processing system and optimal controller is determined currents value for all electromagnet.