• DocumentCode
    1572854
  • Title

    Sliding computed torque control based on passivity for a haptic device: PHANToM premium 1.0

  • Author

    Diaz, Fabian ; Dominguez, Omar ; Ramos-Velasco, Luis E.

  • Author_Institution
    Masters Program in Mechatronics, Polytechnic University of Pachuca, Mexico
  • fYear
    2012
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    A haptic device is a joined link mechanism with limited inertial and tribological effect in each joint, electromechanical property that allows its use in teleoperation, remote control, training and others applications with high performance. This paper presents experimental results of a motion nonlinear control strategy based on Lyapunov´s stability theory and energy analysis for the PHANToM premium 1.0.
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    World Automation Congress (WAC), 2012
  • Conference_Location
    Puerto Vallarta, Mexico
  • ISSN
    2154-4824
  • Print_ISBN
    978-1-4673-4497-5
  • Type

    conf

  • Filename
    6321002
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1572854