Intelligent Precision Control for Haptic Microrobotic Cell Injection System

Integration of the operator’s haptic sensory modality in microrobotic cell injection offers immense benefits over conventional techniques. In particular, the haptically enabled system should be able to manipulate the microrobot in micro resolution. This requires a precision control strategy capable of tracking the trajectory mapped from the haptic side. As the system has an unknown internal structure with nonlinear behavior, an intelligent dynamic modelling and control scheme is developed. Neuro-Fuzzy Inference System (ANFIS) and direct inverse learning method are employed for system identification and control. Experimental results demonstrate that the developed intelligent controller is able to control the microrobotic system with high precision and speed superior to the conventional control methods.