Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator

Abstract

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/06.jpg"" width=""300"" />A handheld micromanipulator</span></div> 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. </span>