Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator

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  • Boksuwan Sungwan
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
  • Benjanarasuth Taworn
    Faculty of Engineering, King Mongkut’s Institute of Technology Ladkrabang
  • Kanamori Chisato
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
  • Aoyama Hisayuki
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications

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<p>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.</p>

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