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.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=1747529
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