Magnetic levitation micro-manipulator robot and its fuzzy cerebella model articulation controller system

Author

Tie, Zhang ; Lin, Li ; Cunxi, Xie

Author_Institution

Coll. of Mech. Eng., South China Univ. of Technol., Guangzhou, China

Volume

3

fYear

2004

fDate

6-9 Dec. 2004

Firstpage

1786

Abstract

A new kind of micro-manipulator robot is put forward, which can be used for biology engineering, micro surgery and so on. The robot is driven by magnetic force between electric magnet and magnet. At first, the structure and principle of the micro-manipulator robot is discussed, and then the servo control system is studied. Based on the concept mapping of cerebella model articulation controller (CMAC), a fuzzy CMAC (FCMAC) control system is studied in detail. Lastly, one of displacement of the manipulator is obtained by experiment. Compared with proportion and integral difference (PID) control result, the stable time becomes 41ms, and the stable precision increases to 0.004mm. It meets the needs for control precision of micro-manipulator robot.

Keywords

cerebellar model arithmetic computers; fuzzy control; magnetic forces; magnetic levitation; micromanipulators; microrobots; servomechanisms; three-term control; 41 ms; FCMAC control system; PID control; control precision; electric magnet; fuzzy cerebella model articulation controller system; magnetic force; magnetic levitation micromanipulator robot; manipulator displacement; proportion-and-integral difference control; servo control system; Biological system modeling; Biology; Control system synthesis; Fuzzy control; Fuzzy systems; Magnetic forces; Magnetic levitation; Robots; Servosystems; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th

Print_ISBN

0-7803-8653-1

Type

conf

DOI

10.1109/ICARCV.2004.1469429

Filename

1469429