Paper:

# Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator

## Sungwan Boksuwan^{*}, Taworn Benjanarasuth^{**}, Chisato Kanamori^{*},

and Hisayuki Aoyama^{*}

^{*}Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan

^{**}Faculty of Engineering, King Mongkut’s Institute of Technology Ladkrabang, 1 Chalongkrung Soi 1, Ladkrabang District, Bangkok, Thailand

A handheld micromanipulator

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.

*J. Robot. Mechatron.*, Vol.26, No.3, pp. 331-340, 2014.

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