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Author: search.filters.author.Aoyama, HisayukiSubject: search.filters.subject.Handheld micromanipulator

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    High performance periodical paths tracking of two-dimensional handheld micromanipulator using explicit model predictive control
    (2017-02-18)
    Boksuwan, Sungwan
    ;
    Cheypoca, Thepjit
    ;
    Chesof, Abdulhafiz
    ;
    Kanamori, Chisato
    ;
    Panaudomsup, Sumit
    The paper proposes an explicit model predictive control framework for a two-dimensional handheld micromanipulator to track periodical reference paths within microscopic working range and for all holding angles of users' hand. The control objective is to achieve a minimum tracking error and a wide bandwidth. The micromanipulator's design is oriented to such bio cell treatments. Its structure consists of two flexible decoupling links, each of which is driven by the combination of electric coils and permanent magnets as an actuator. In the experiments, the proposed framework is compared with two types of PID controllers, parameters of which are designed by Skogestand's IMC and IMC method based on the underdamped transfer function, respectively. The experimental results exhibit the effectiveness of the two-dimensional handheld micromanipulator controlled by the model predictive control framework over the PID controller ones.
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    Tremor suppression for handheld micromanipulator using robust hybrid control
    (2014-12-16)
    Boksuwan, Sungwan
    ;
    Benjanarasuth, Taworn
    ;
    Kanamori, Chisato
    ;
    Aoyama, Hisayuki
    This paper proposes a suppression of tremor effects, fluctuations caused by a user's hand, on a handheld micromanipulator by means of a robust hybrid control scheme. The proposed control scheme is a combination between an explicit model predictive control and a PID controller. The advantage of the PID controller is a robustness. It is suitable for handling the holding angle changes. The explicit model predictive control provides the excellent tracking performance. In addition, the robust hybrid control can handle tremor effects successfully. The control objective is to achieve robust tracking performance, to dampen the vibration of the mechanism and to suppress a disturbance, a tremor. The experimental results are used to investigate the effectiveness of the proposed method.
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    Robust hybrid control for two-dimensional handheld micromanipulator
    (2014-01-01)
    Boksuwan, Sungwan
    ;
    Benjanarasuth, Taworn
    ;
    Kanamori, Chisato
    ;
    Aoyama, Hisayuki
    This paper proposes a two-dimensional handheld mi-cromanipulator oriented toward bio cell handling. The micromanipulator consists of two flexible links, each of which is constructed with a parallel beam structure. Electric coils and permanent magnets are used to produce an actuator to form double drivers. An explicit model predictive control combined with a PID controller called a robust hybrid control is proposed not only to achieve robust tracking performance, but also to dampen the vibration of the mechanism. The experimental results are compared to results from a standard PID controller to investigate the effectiveness of the micromanipulator.