This book introduces researchers and advanced students with a basic control systems background to an array of control techniques which they can easily implement and use to meet the required performance specifications for their mechatronic applications. It is the result of close to two decades of work of the authors on modeling, simulating and controlling different mechatronic systems from the motion control, automotive control and micro and nano-mechanical systems control areas. The methods presented in the book have all been tested by the authors and a very large group of researchers, who have produced practically implementable controllers with highly successful results.
The approach that is recommended in this book is to first start with a conventional control method which may then be cascaded with a feedforward controller if the input is known or can be measured with a preview; to add a disturbance observer if unknown disturbances are to be rejected and if regulation of the uncertain plant about a nominal model is desired; and to add a repetitive controller to take care of any periodic inputs of fixed and known period. Case studies ranging from road vehicle yaw stability control and automated path following, to decoupling control of piezotube actuators in an atomic force microscope are presented. Parameter space based methods are used in the book for achieving robust controllers.
Control of Mechatronic Systems is essential reading for researchers and advanced students who want to be exposed to control methods that have been field tested in a wide variety of mechatronic applications, and for practicing engineers who design and implement feedback control systems.
This book describes the technical design characteristics of the main components that go into forming an artificial hand, whether it is a simple design that does not have a natural appearance, or a more complicated design where there are multiple movements of the fingers and thumb. Mechanical components obviously form the structure of any hand, while there are some lesser known ideas that need to be explored such as how to process a slip signal.
The focus of the book is the design of artificial hands for people, who through trauma or congenitally, only have one or no natural hands, with an emphasis on myolectric hands - powered hands that are controlled by the small electrical signals from residual muscles. An in-depth treatment of mechanisms, sensors, control, and hand assessment is included.
Bringing together decades of research from the University of Southampton - a centre of excellence in this field - this book is essential reading for researchers and advanced students of robotics, prosthetics and mechatronics as well as professional engineers and prosthetists in universities, industry and hospitals who are involved in the design and manufacture of prosthetic hands.
The world is experiencing the beginning of a revolution in robotics and mechatronics. A key part of this revolution is integration with the Internet of Things and machine-to-machine interfaces. This networking of robotics and mechatronics promises significant market opportunities for a new generation of robots.
The basic theory and procedures for the design and development of practical robotics and mechatronics are important for all students and engineers who wish to engage in the field and this book provides an essential introduction to this, describing how to successfully create practical robotics and mechatronics. It is based on the author's 30 years of experience of robotics development in Mitsubishi Heavy Industries, Ltd., JAMSTEC, and Nagasaki University, and contains many examples of real-world robots from new underwater vehicles, ships, robotic fish, unmanned aviation robotics, to space robotics, and medical robotics.