Research And Development On Hybrid Control Of Force And Position For Cell-injection

Cell-injection is a technology of using a robot end-manipulator bounded with a needle to puncture the cell membrane by mechanical means, and gets to the desired position to inject the genes and other things into it. It’s a very important method to produce new transgenic plants or animals. Deformation of the injected cell and the desired position of the injected genes are related to the very micro-force of the moving forward needle, its moving precision and the controllability separately, and these factors affect the successful rate of cell-injection very much, the position and force control has become a very important technology in genetic engineering.Firstly, this thesis introduces a research on hybrid control of position and force in the process of cell-injection. Due to the fact that the position control of a rigid body under a micro environment has been developed perfectly, this paper just puts the focus on micro force control and only employs a common PID control method to regulate the position of the needle. This thesis carries out simulations of three control methods in MATLAB circumstances and they are common PID control, adaptive impedance control and Fuzzy-PID control separately, compares their advantages and decides to use the Fuzzy-PID control method finally, and carries out a co-simulation of MATLAB and Adams about this method. Secondly, this thesis models a structure of one dimentional PVDF piezoelectric film and its probe with a mechanical method, designs a magnitude-tunable charge-amplifier, and then derives the transfer function of the whole physical structure of the PVDF micro-force sensor. This thesis develops an inverse model controller of the PVDF physical structure, and carries out the static tests in LABVIEW environment, and also calibrates the sensor and gives out some properties of it. Thirdly, this thesis sets up the micro-force tracking test system, both hardware and software are included. The system consists of one XYZ-positioning table, one homemade PIC MCU control circuit with a PD control program, PVDF film with the probe, some LABVIEW programs and the VC++customers interface, and also a Fuzzy-PID control method is designed in the LABVIEW environment. Finally, this thesis designs two test plans, one only uses the PIC circuits with a PD control method to control the force-tracking test, the other uses LABVIEW system and some control methods.This thesis compares the experiment results and analyses them finally.