Dynamics characterization of a high precision MM3A micro-manipulator system

Author

Ramli, Mohd Hanif Mohd ; Patar, Mohd Nor Azmi Ab ; Meon, Mohd Suhairil ; Makhtar, Ahmad Khushairy

Author_Institution

Fac. of Mech. Eng., Univ. Teknol. MARA, Shah Alam, Malaysia

fYear

2011

fDate

5-6 Dec. 2011

Firstpage

158

Lastpage

161

Abstract

This paper presents a study on control architecture improvement of a MM3A microrobotic system (MM3A) in terms of high precision capability using a hybrid control strategy viz. PD control scheme integrated with intelligent Active Force Control (AFC) and Fuzzy Logic (FL). The dynamic model of the MM3A is derived using Recursive Newton-Euler method. The simulation was carried out using MATLAB, Simulink. Three control schemes were utilized in this study namely, proportional-derivative (PD) controller, PD-AFC-Crude Approximation, and PD-AFC-Fuzzy Logic estimator in order to test the system performance and robustness. Based on the simulation results, it is proven that the proposed scheme has outstanding performance compared to the classical control scheme. Using AFC-FL strategy, the MM3A was able to achieve its desired performance excellently. Incorporating neural networks into the system tightens the errors and reduces the time taken for the robot to achieve its desired response.

Keywords

Newton method; PD control; force control; fuzzy control; intelligent control; manipulator dynamics; micromanipulators; neural nets; MATLAB; MM3A micromanipulator system; MM3A microrobotic system; PD control scheme; PD-AFC-crude approximation; PD-AFC-fuzzy logic estimator; Simulink; control architecture improvement; dynamics characterization; high precision capability; hybrid control strategy; intelligent active force control; neural networks; proportional-derivative controller; recursive Newton-Euler method; system performance testing; Adaptation models; Frequency control; Fuzzy logic; Mathematical model; PD control; Robots; Torque; Modeling; active force control; fuzzy logic;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanities, Science and Engineering (CHUSER), 2011 IEEE Colloquium on

Conference_Location

Penang

Print_ISBN

978-1-4673-0021-6

Type

conf

DOI

10.1109/CHUSER.2011.6163707

Filename

6163707