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
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- Benjanarasuth Taworn
- Faculty of Engineering, King Mongkut’s Institute of Technology Ladkrabang
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- Kanamori Chisato
- Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
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- Aoyama Hisayuki
- Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
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Abstract
<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>
Journal
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 26 (3), 331-340, 2014-06-20
Fuji Technology Press Ltd.
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Details 詳細情報について
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- CRID
- 1390001288149992192
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- NII Article ID
- 130007671104
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- NII Book ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL BIB ID
- 025556155
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed