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Robust Impedance Control of Constrained Piezoelectric Actuator-Based End-Effector

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Force and Position Control of Mechatronic Systems

Part of the book series: Advances in Industrial Control ((AIC))

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Abstract

Impedance control is one of the common force and position control methods. It regulates the relationship between motion and force which is able to deal with the tasks where the control subject has certain level of uncertainty. It is often used in the applications of robot–environment interaction or human–robot interaction where the force–position relation is of concern. In this chapter, a robust impedance control is designed for a semi-automated surgical device based on the dynamic coordination of force and position control.

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Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Tong Heng Lee, Wenyu Liang & Kok Kiong Tan

  2. Department of Mechanical Engineering, University of British Columbia, Vancouver, BC, Canada

    Clarence W. de Silva

Authors
  1. Tong Heng Lee
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  2. Wenyu Liang
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  3. Clarence W. de Silva
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  4. Kok Kiong Tan
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Corresponding author

Correspondence to Tong Heng Lee .

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Lee, T.H., Liang, W., de Silva, C.W., Tan, K.K. (2021). Robust Impedance Control of Constrained Piezoelectric Actuator-Based End-Effector. In: Force and Position Control of Mechatronic Systems. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-030-52693-1_7

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