Force and Position Control of Mechatronic Systems: Design and Applications in Medical Devices (Advances in Industrial Control)

Description

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 these ideas. 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. Series Editor’s Foreword Preface Contents List of Figures List of Tables 1 Introduction 1.1 Overview 1.2 Mechatronic Systems 1.3 Force Sensing 1.3.1 Strain Gauge and Load Cell 1.3.2 Force Sensing Resistor 1.3.3 Piezoelectric Force Sensor 1.3.4 Other Force Sensors 1.4 Modeling of Contacting Object 1.4.1 Linear Model 1.4.2 Nonlinear Model 1.5 Force and Position Control 1.5.1 Position Control 1.5.2 Force Control 1.5.3 Hybrid Force–Position Control 1.5.4 Parallel Force–Position Control 1.5.5 Impedance Control 1.6 Organization of the Book References 2 Disturbance Observer-Based Force Estimation Without Force Sensors 2.1 Disturbance Observer-Based Force Estimation Methods 2.1.1 Disturbance Observer 2.1.2 Nonlinear Disturbance Observer 2.1.3 Extended State Observer 2.1.4 Discussions 2.2 Friction Compensation 2.2.1 Model-Based Friction Compensation 2.2.2 Model-Free Friction Compensation 2.3 Gravity Compensation 2.3.1 Mechanical Approach 2.3.2 Control Approach 2.4 Chapter Summary References 3 Force-Based Supervisory Control Assisted Surgery 3.1 Introduction 3.2 System Description 3.2.1 Challenges 3.2.2 Surgical Device Design 3.2.3 Force Sensing System 3.3 Force-Based Supervisory Controller Design 3.3.1 Position Controller 3.3.2 Supervisory Controller 3.4 Case Study 3.4.1 Prototype 3.4.2 Experimental Results 3.5 Chapter Summary References 4 Stabilization System Based on Vision-Assisted Force Feedback 4.1 Introduction 4.2 Problem Formulation 4.2.1 Surgical Device Design 4.2.2 Human Head Motion 4.3 Controller Design 4.3.1 Force Feedback Controller 4.3.2 Vision-Based Motion Compensator 4.3.3 Vision-Assisted Force Feedback Controller 4.4 Experiments and Results 4.4.1 Experimental System Setup 4.4.2 Experimental Results 4.4.3 Discussions 4.5 Chapter Summary References 5 Optimal and Robust Contact Force Control on Soft Membrane 5.1 Introduction 5.2 Problem Formulation 5.3 Controller Design 5.3.1 Optimal Force Controller 5.3.2 Disturbance Observer-Based Motion Compensator 5.3.3 Stability Analysis 5.4 Experiments and Results 5.4.1 Application Overview and Experimental System Setup 5.4.2 Force Controller only 5.4.3 Force Controller with Compensation 5.5 Chapter Summary References 6 Force–Position Control for Fast Tube Insertion 6.1 Introduction 6.2 Tube Insertion Procedure 6.2.1 System Architecture 6.2.2 Working Process 6.3 Controller Design 6.3.1 Position-Based Insertion Method 6.3.2 Force-Based Insertion Method 6.3.3 Force–Position Insertion Method 6.3.4 Discussions 6.4 Experiments and Results 6.4.1 Experiments and Results on Rigid Setup 6.4.2 Experiments and Results on Stabilized Handheld Setup 6.5 Chapter Summary References 7 Robust Impedance Control of Constrained Piezoelectric Actuator-Based End-Effector 7.1 Introduction 7.2 Piezoelectric Ultrasonic Motor Modeling in Constrained Environment 7.3 Controller Design 7.3.1 Impedance Control 7.3.2 Robust Impedance Control Design 7.4 Experimental Study 7.4.1 Experimental System Setup 7.4.2 Results and Discussions 7.5 Chapter Summary References 8 Advanced Disturbance Observer-Based Failure Detection for Force Sensor 8.1 Introduction 8.2 System Review and Problem Formulation 8.3 Controller and Observer Design 8.3.1 Modeling of Motor Stage 8.3.2 Position Controller 8.3.3 Advanced Disturbance Observer 8.3.4 Contact Estimator 8.3.5 Failure Detector 8.4 Numerical Study 8.5 Experimental Verification 8.5.1 Experimental System Setup 8.5.2 Experimental Results 8.6 Chapter Summary References 9 Conclusion Appendix Index Index