Force and Position Control of Mechatronic Systems provides an overview of the general concepts and technologies in the area of force and position control. Novel ideas and innovations related to this area are presented and reported in detail, and examples of applications in medical technology are given.

The book begins by introducing force sensing, and modelling of contacting objects. In then moves steadily through a variety of topics, including:

• disturbance observer-based force estimation;

• force-based supervisory control;

• stabilization systems;

• controller design; and

• control of tube insertion procedures.

This book will be of interest to researchers, engineers and students interested in force control, particularly those with a focus on medical applications of theseideas.

Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Introduces the reader to techniques of force and force/position control Explains safety, speed and reliability benefits for selected medical procedures Uses experimental case studies to bring the ideas prescribed into the real world

Autorentext

Professor Lee Tong Heng's research interests are in the areas of adaptive systems; knowledge-based control; intelligent mechatronics and computational intelligence. He currently holds Associate Editor appointments in the IEEE Transactions on Cybernetics; Control Engineering Practice (an IFAC journal); and the International Journal of Systems Science (Taylor and Francis, London). In addition, he is the Deputy Editor-in-Chief of IFAC Mechatronics journal. He has also co-authored more than five research monographs (books), and holds four patents. He was an Invited Panellist, an Invited Keynote Speaker for many international conferences. He was a recipient of the Cambridge University Charles Baker Prize in Engineering and several best conference paper prizes. He was also a multiple winner of the National University of Singapore FoE Engineering Educator Award, and is now on the Engineering Educator Honour Roll.

Dr Liang Wenyu's research interests are in the areas of robotics; mechatronics and automation; precision motion control and force control with applications in industrial and medical technologies. He has authored or co-authored over 70 publications, including are two book chapters and more than 30 journal papers. He has received several prizes and awards such as the IES Prestigious Engineering Achievement Awards 2016, Young Creators; Merit Award, Tan Kah Kee Young Inventors' Award 2016: Open Section, etc. He has organized Special Sessions related to intelligent control and motion planning in the 44th (2018) and the 45th (2019) Annual Conference of the IEEE Industrial Electronics Society (IECON).

Professor Clarence W. De Silva's research interests are in the areas of multi-robot systems and applications including homecare; process automation; mechatronics: integrated and automated design; control sensors and actuators; automated machine monitoring, diagnosis and repair; telemedicine, environmental monitoring. He has authored 24 books and about 540 papers, approximately half of which are in journals. He is a Fellow of the IEEE, ASME, CAE, and Royal Society of Canada; as well as a Distinguished Visiting Fellow of Royal Academy of Engineering. He is the Editor-in-Chief of Mechatronic Systems and Control, a Book Review Editor of International Journal of Hybrid Intelligent Systems and the Editorial Board of International Journal of Information Acquisition.

Professor Tan Kok Kiong's research interests are in the areas of precision motion control and instrumentation; advanced process control and auto-tuning; and general industrial automation. He has authored or co-authored more than 260 journal papers and more than 250 conference papers to date and has written over 10 books as well as holds nine patents, all resulting from research in these areas. He also mentored students to numerous awards. He has attracted research funding inexcess of S$18 million to date and has received numerous research awards and best conference paper prizes. He was an Associate Editor of several journals which include: ISA Transactions; Asian Journal of Control; Computer and Electrical Engineering; Mechatronic Systems and Control.

Klappentext

Force and Position Control of Mechatronic Systems provides an overview of the general concepts and technologies in the area of force and position control. Novel ideas and innovations related to this area are presented and reported in detail, and examples of applications in medical technology are given. The book begins by introducing force sensing, and modelling of contacting objects. In then moves steadily through a variety of topics, including: disturbance observer-based force estimation; force-based supervisory control; stabilization systems; controller design; and control of tube insertion procedures. This book will be of interest to researchers, engineers and students interested in force control, particularly those with a focus on medical applications of theseideas. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Inhalt

Introduction.- Force Sensorless Estimation via Disturbance Observer.- Force-Based Supervisory Control.- Stabilization System Based on Vision-Assisted Force Feedback.- Optimal and Robust Contact Force Control on Soft Membrane.- Hybrid Force/Position Control for Fast Tube Insertion.- Robust Impedance Control of Constrained Piezoelectric Actuator-Based Manipulation.- Advanced Disturbance Observer-Based Failure Detection for Force Sensor.- Conclusion.