Control strategies for a haptic device interfacing with virtual environment

Author

Zadeh, Mehrdad H. ; Khorasani, K.

Author_Institution

Dept. of Electr. & Comput., Concordia Univ., Montreal, Que., Canada

Volume

1

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

181

Abstract

This paper presents several strategies for maintaining and improving the stability margins and achievable performances for a haptic rendering subject to interaction with virtual objects. Two classes of control strategies are investigated here. The first is a lead-lag compensator designed based on classical control and the second scheme is a linear-quadratic Gaussian (LQG) controller designed from modern control theory. A detailed comparative performance and evaluation of the proposed controllers are developed to illustrate the advantages and disadvantages of these methods.

Keywords

compensation; control system analysis; control system synthesis; force feedback; graphical user interfaces; haptic interfaces; linear quadratic Gaussian control; linearisation techniques; nonlinear control systems; position control; rendering (computer graphics); stability; virtual reality; control strategy; controller design; haptic device interfacing; lead-lag compensator; linear-quadratic Gaussian control; virtual environment; Equations; Force control; Force feedback; Friction; Haptic interfaces; Imaging phantoms; Kinematics; Nonlinear dynamical systems; Stability; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1438913

Filename

1438913