Function Based Control of Constrained Motion Systems for Microsystems Applications
Abstract—Design of a motion control system, convenient for a wide range of applications in industry, space, biology, medicine, particularly including more than one physics environment is very important. Well known control architectures like trajectory tracking, compliance control, interaction force control are scientific milestones which has common control task: to maintain desired system configuration. In this concept, motion control system can be an unconstrained motion-performed interaction with neither environment nor any other system, or constrained motion-system in contact with environment and/or other systems. This paper provides the function based design approach to formulate control of constrained system particularly bilateral systems in micromanipulation applications. The control objective aimed to maintain desired functional relations between human and environment defining convenient tasks and their proper relations on master and slave motion systems. The custom built micromanipulation setup presented here designed for the implementation of the methodology. Preliminary results concerning position tracking, force control and transparency between master and slave systems are clearly demonstrated.