Closed-Loop Control of a Self-Positioning and Rolling Magnetic Microrobot on 3D Thin Surfaces Using Biplane Imaging

We propose a control methodology to precisely manipulate a self-positioning and rolling magnetic microrobot (SPRMM) along a complex moving path on a 3D thin surface. We introduce a closed-loop algorithm to control an external rotating magnetic field in order to precisely manipulate the SPRMM along a predefined arbitrary moving path. We also construct a biplane, vision-based image processing procedure to obtain the real-time 3D position of the SPRMM. We then construct an experimental setup to demonstrate precise rolling locomotion of the SPRMM on a 3D, complex thin surface.