A Simultaneous Calibration Method for Magnetic Robot Localization and Actuation Systems

摘要

This paper proposes a method of simultaneously calibrating magnetic localization and actuation systems for magnetically actuated robots. In this method, uncalibrated magnetic localization and actuation systems are calibrated simultaneously with minimal human intervention, which enables self-calibration, flexible reconfiguration, and long-term correctness of the system parameters. This method employs a bundle adjustment framework using a quadratic measurement model for sensors and the magnetic dipole model for actuators. The proposed method has been verified in comparison with finite element simulations and existing calibration methods for magnetic actuators and sensor arrays. In the experiments, the determinant of coefficient (R-2 value) was 99.84% for the sensor system and 99.45% for the actuator system after the calibration, comparable with individual state-of-art calibration methods of calibrating magnetic actuators and sensor arrays. This method has potential to improve the reconfigurability and long-term accuracy of magnetic robot localization and actuation systems, such as magnetically actuated capsule endoscopes.