| Popis: |
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. |
