• DocumentCode
    1747529
  • Title

    A transparency-optimized control for a 6-DOF parallel-structured haptic device

  • Author

    Kim, H.W. ; Eom, K.S. ; Suh, I.H. ; Yi, B.-J.

  • Author_Institution
    Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Ansan, South Korea
  • Volume
    3
  • fYear
    2001
  • fDate
    2001
  • Firstpage
    2331
  • Abstract
    This paper presents a design method of transparency optimized feedback controller with robustness for a parallel 6-DOF haptic system. A disturbance observer is employed to eliminate coupling effects that exist in a mechanically coupled structure. A performance index for the transparency is defined by admittance matching, and by solving the H2 optimal problem. The optimal solution that minimizes the performance index is obtained.
  • Keywords
    control system synthesis; force feedback; haptic interfaces; observers; optimal control; performance index; 6-DOF haptic system; admittance matching; disturbance observer; feedback; performance index; transparency-optimized control; Acceleration; Displays; Frequency response; Friction; Gravity; Haptic interfaces; Manipulators; Nonlinear dynamical systems; Orbital robotics; Torque;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-6576-3
  • Type

    conf

  • DOI
    10.1109/ROBOT.2001.932970
  • Filename
    932970
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1747529