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Author: search.filters.author.Aoyama, HisayukiSubject: search.filters.subject.Parallel beam structure

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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.