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Robust hybrid control for two-dimensional handheld micromanipulator
Author(s)
Date Issued
January 1, 2014
Type
Article
Abstract
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.
Citation
Journal of Robotics and Mechatronics, 26(3), 331-340, 2014