Motion Control Simulations for a Magnetically-Coupled Bacterium and Robotic Arm

Abstract

The demonstrations of micro-robotic systems in minimally invasive medicine include an individual or a swarm of microswimmer of various origin, artificial or biohybrid, often with an external computer-controlled electromagnetic field. There are several in vivo and in vitro control performances with artificial microswimmers but control of a bio-hybrid microswimmer using an open kinematic chain remains untouched. In this work, non-contact maneuvering control of a single magnetotactic bacterium cell is simulated. The results show that the proposed system is capable of adjusting the heading of the microswimmer moving at proximity to a 2D boundary under the guidance of the set-point tracking scheme. The performance of the coupled model and the sensitivity to control parameters are demonstrated with the help of a time-dependent error to the yaw-angle reference under the influence of PID with adaptive integral gain.

International Conference on Manipulation, Automation and Robotics at Small Scales, 2020, Toronto, Canada (Submitted, Accepted, Corrected, to be submitted to MARSS2021)