Dynamics characterization of a high precision MM3A micro-manipulator system

摘要

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.