Dynamic Model Based Microrobot Control

In this paper, a novel control algorithm for a microrobot is proposed, which is Two-degree-of-freedom control based on dynamic model. Two-degree-of-freedom control which consists of Disturbance observer (DOB), feedback controller and feed forward controller, has been utilized widely in industry. For the application of this controller for the microrobot, dynamic characteristics of a microrobot is analyzed and modeled at first, then Two-degree-of-freedom controller is designed based on the derived dynamic model of the microrobot. Experiments verity better performance by the proposed controller over the conventional controller.