In this paper, a novel evolutionary PD (EPD) control to improve the tracking performance is proposed and applied to the trajectory tracking of a closed-loop robot manipulator. The EPD control can incorporate the dynamic information of manipulator in a very plain way without requiring the knowledge of the robot dynamics, and it is simple and effective for the trajectory tracking. Comparison of the EPD control with some other PD-based controls for several different structures of manipulators is made. Simulation study demonstrates that the EPD control is promising in robot manipulator applications for trajectory tracking compared with the PD/NPD controls.

Visual servo control is needed for realizing automatic bio-micromanipulation and increasing the accuracy of micromanipulator. A dual-hand micromanipulation system with micro-visual-servo was developed for automating cell manipulation in biotechnology. This paper presents a complete solution for micro-visual-servo of the system, involving micro-visual-servo architecture, control law, modeling of image Jacobian and recognition algorithms of micro objects. The experimental results of micro-circle trajectory tracking and automatic transgenic operation verify the effectiveness of the micro-visual-servo solution.

This paper presents a study of examining nonlinear PD (NPD) control of multi-degree-of-freedom parallel manipulator systems for a generic task, i.e., trajectory tracking. The motivation of this study is the well-known observation that NPD control method can offer a means to improve the performance of plant systems. This study is also to examine how the mechanical structure of the manipulator affects dynamic performance. The design of mechanical structure follows the design-for-control (DFC) principle, and in particular it renders to a full force balanced mechanism. Simulation studies confirm that the concurrent consideration of mechanical structure design and NPD control can obtain good trajectory tracking performance for the parallel manipulators.