Title :
Haptic Guidance Based on Sub-optimal Passivity Control
Author :
Silva, Alejandro Jarillo ; Ramirez, Omar A Dominguez ; Vega, Vicente Parra ; Oliver, J. Patricio Ordez
Author_Institution :
Centro de Investig. en Tecnol. de Inf. en Sist., Univ. Autonoma del Estado de Hidalgo, Pachuca, Mexico
Abstract :
This article presents a strategy of haptic guidance for training based on a sub-optimal control law for path planning, designed from theory passive and applied to haptic devices modeling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the PHANToM premium 1.0 haptic device and a closed path planning in its space of admissible configurations with presence of extern disturbances for proof experimental of robust.
Keywords :
haptic interfaces; human-robot interaction; manipulators; optimal control; path planning; PHANToM premium 1.0 haptic device; haptic guidance; manipulators robots; path planning; sub-optimal passivity control; Asymptotic stability; Control systems; Haptic interfaces; Humans; Imaging phantoms; PD control; Proportional control; Robots; Sliding mode control; Three-term control; control; haptic guidance; passivity;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2009. CERMA '09.
Conference_Location :
Cuernavaca, Morelos
Print_ISBN :
978-0-7695-3799-3
DOI :
10.1109/CERMA.2009.35
