Adaptive impedance control of a haptic teleoperation system for improved transparency

Author

Na, Uhn Joo ; Vu, Minh Hung

Author_Institution

Dept. of Mech. Eng., Kyungnam Univ., Changwon, South Korea

fYear

2012

fDate

8-9 Oct. 2012

Firstpage

38

Lastpage

43

Abstract

An adaptive impedance force control model of a haptic device for teleoperation is analyzed. A new force control model of the haptic device is constructed to investigate the dynamic effects of the user hand. Movements of the user hand may work as a force disturbance to the haptic force control system so that it is difficult to realize a good transparency. A model reference adaptive control (MRAC) is proposed to improve the transparency of the haptic device. A third order reference model with relative degree one is selected to satisfy requirements of rise time, settling time and overshoots. Experiments show that the force tracking performances are improved while force disturbances from the user hand are well compensated.

Keywords

electric impedance; force control; haptic interfaces; model reference adaptive control systems; telecontrol; MRAC; adaptive impedance force control model; force tracking performances; haptic device; haptic teleoperation system; improved transparency; model reference adaptive control; rise time requirements; user hand dynamic effects; Adaptation models; Dynamics; Force; Haptic interfaces; Impedance; Mathematical model; Trajectory; MRAC; adaptive impedance control; haptic device; teleoperation; transparency; user hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptic Audio Visual Environments and Games (HAVE), 2012 IEEE International Workshop on

Conference_Location

Munich

Print_ISBN

978-1-4673-1568-5

Type

conf

DOI

10.1109/HAVE.2012.6374442

Filename

6374442