Title :
Force control for a haptic interface system
Author :
Yano, Tomoko ; Ohnishi, Kouhei
Author_Institution :
Dept. of Sytem Design Eng., Keio Univ., Yokohama, Japan
Abstract :
This paper discusses a construction method of a haptic interface. Force control for haptics has been described and analyzed. The performance and stability of the controller has been especially analyzed. The haptic filter is newly defined. The performance of the haptic interface is evaluated using the haptic filter. For the stability, a transfer function is calculated, then the pole placement is investigated. The proposed haptic interface system can get the stability and good performance, under various environments. The control system is analyzed and the validity was checked by the simulations and experiments.
Keywords :
control system analysis; force control; haptic interfaces; pole assignment; stability; transfer functions; control system analysis; force control; haptic filter; haptic interface system; pole placement; stability; transfer function; Analytical models; Control system analysis; Control system synthesis; Filters; Force control; Haptic interfaces; Performance analysis; Stability analysis; State feedback; Transfer functions;
Conference_Titel :
Industrial Technology, 2004. IEEE ICIT '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8662-0
DOI :
10.1109/ICIT.2004.1490265
