The Implementation of Biorobotic Micromanipulation System

This paper suggests intelligent control algorithm implemented within biorobotic micromanipulator control system. The change of various environment parameters requires the change of corresponding robot controller gains in order to maintain required accuracy and overall stability of the system. We propose an intelligent control system which will choose desired controller parameters from pre-given gains set in order to maintain desired system performance. In addition, a haptic interface based on a relatively new working principle is suggested. In such an interface, the haptic device is actuated by the means of twisting the flexible threads.