Journal of Robotics and Mechatronics
Online ISSN : 1883-8049
Print ISSN : 0915-3942
ISSN-L : 0915-3942
Regular papers
Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator
Sungwan BoksuwanTaworn BenjanarasuthChisato KanamoriHisayuki Aoyama
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JOURNAL OPEN ACCESS

2014 Volume 26 Issue 3 Pages 331-340

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Abstract

This paper proposes a two-dimensional handheld micromanipulator 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.

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