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
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.
Conference_Titel :
World Automation Congress (WAC), 2012
Conference_Location :
Puerto Vallarta, Mexico
Print_ISBN :
978-1-4673-4497-5
