Benjanarasuth, Taworn

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Benjanarasuth, Taworn
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Benjanarasuth, T.
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taworn.be@kmitl.ac.th

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    Item type:Publication,
    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.