Dynamic based control strategy for haptic devices
2011 (English)In: World Haptics Conference (WHC), 2011 IEEE Issue Date: 21-24 June 2011 / [ed] IEEE, 2011, 131-136 p.Conference paper (Refereed) [Artistic work]
Transparency is a key performance measure for haptic devices. In this paper, we investigate a control strategy to increase the transparency of a haptic device. This control strategy is based on careful analysis of the dynamics of the haptic device, computed torque feed forward control and current feedback based force control. The inverse dynamic equation of motion for the device is derived using Lagrangian formalism and the dominating terms are identified for some representative motion trajectories. The user contact dynamic model is identified using experiments on the device with different users. A PI controller using motor current measurements is used to follow the reference force from the virtual environment. Experimental results illustrate the effectiveness of the control strategy.
Place, publisher, year, edition, pages
2011. 131-136 p.
Actuators, Dynamics, Equations, Haptic interfaces, Joints, Mathematical model, Torque
Other Mechanical Engineering
Research subject SRA - ICT
IdentifiersURN: urn:nbn:se:kth:diva-78490DOI: 10.1109/WHC.2011.5945474ScopusID: 2-s2.0-79961202957ISBN: 978-1-4577-0299-0OAI: oai:DiVA.org:kth-78490DiVA: diva2:492529
World Haptics Conference (WHC), 2011, 21-24 June 2011, Istanbul, Turkey
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QC 201202142012-02-142012-02-082012-03-02Bibliographically approved