Identification and Robust Controllers for an Electrostatic Microgripper
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ORIGINAL PAPER
Identification and Robust Controllers for an Electrostatic Microgripper Andrei A. Felix1 · Diego Colón1 · Bruno M. Verona2 · Luciana W. S. L. Ramos2 · Houari Cobas‑Gomez3 · Mario R. Gongora‑Rubio2 Received: 5 July 2020 / Revised: 22 August 2020 / Accepted: 28 August 2020 © Krishtel eMaging Solutions Private Limited 2020
Abstract Purpose In this paper, it is presented system identification and design of robust force controllers for an electrostatic microgripper grabbing a microparticle. Methods Firstly, it is analysed the most common models in the literature and then the identification process is performed. It is identified a family of models of Box–Jenkins type. Linear controllers of increasing complexity are designed, which are of low order aiming to reduce the computational burden in real-time. The controllers must have robustness of stability and performance. Results and conclusions Simulations are performed in order to validate the controllers, which have robustness of stability and performance. Suggestions of future work are presented. Keywords Micromanipulation · Robust control · Microgripper · Discrete control · System identification
Introduction Micromanipulation is the process of handling objects with dimensions in the micrometer range. In general, it uses MEMS (Micro Electro Mechanical Systems) for holding and moving particles in a microenvironment. Such environments are markedly different from people’s everyday experience, where nonlinear surface forces, such as surface tension, adhesion forces, van der Waals forces and electrostatic attractions dominate over volume forces (inertia and gravity), which makes the manipulation very challenging [17, 29]. Besides that, interference from the macroscale exist that have high intensity in the microenvironment, causing noises and disturbances, as for example vibrations coming from the floor. Micromanipulation has found applications in several areas such as medicine, biology and engineering. It * Diego Colón [email protected] Andrei A. Felix [email protected] 1
Laboratório de Automação e Controle (LAC), Universidade de São Paulo, São Paulo, Brasil
2
Laboratório de Micromanufatura, Instituto e Pesquisas Tecnológicas, São Paulo, Brazil
3
Scinntech, São Paulo, Brazil
was used for mechanical characterization of mouse oocytes [12], for measuring mechanical properties of plants cell [11, 13, 18], to repair fibrous tissue of cells such as in [21] or in biomedical microdevices [6, 26]. In material engineering, it was used to the characterization of micrometer sized particles [24] and to move carbon nanotubes for one place to another in electronic microscopy [2]. In general, one wants to control the position of the microgripper in order to follow a reference trajectory, and the grabbing force exerted by it to the microobject. Such a force control is necessary to preserve the integrity of the microobject, like for example in living cells. In this work, we focus in the force control of a microgripper. There are excellent survey papers w
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