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Communication Dans Un Congrès Année : 2022

Characterization of a trilateration method using Hall effect sensors for microrobot position tracking

G. Geron
  • Fonction : Auteur
J. Terrien
  • Fonction : Auteur
M. Khan
  • Fonction : Auteur
Christine Prelle
H. Al Hajjar
  • Fonction : Auteur

Résumé

This article presents a 2D measurement system using Hall effect sensor array for micro robotic applications. This system uses a trilateration method to track the position of a microrobot equipped with a permanent magnet. The objective of this work is to characterize the impact of different physical parameters (i.e., sensors density, number of measurements, etc.) on the localization errors. The simulation and experimental results have shown a good correlation for the measurement system. The tracking trajectory of a mobile permanent magnet in xy-plane was successfully measured with a mean error of 43.9 ± 27.8 μm and of 47.5 ± 28.0 μm along x- and y-axis, respectively.
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Dates et versions

hal-03926615 , version 1 (06-01-2023)

Identifiants

Citer

G. Geron, J. Terrien, M. Khan, Christine Prelle, H. Al Hajjar. Characterization of a trilateration method using Hall effect sensors for microrobot position tracking. 2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Jul 2022, Toronto, Canada. pp.1-6, ⟨10.1109/MARSS55884.2022.9870254⟩. ⟨hal-03926615⟩
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