Title :
A design method of a haptic interface controller considering transparency and robust stability
Author :
Eom, K.S. ; Suh, I.H. ; Yi, B.-J.
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Ansan, South Korea
Abstract :
A transparency-optimized feedback controller with robustness is designed for a multi-axis haptic device, where a disturbance observer is employed to decouple the coupling effect existing in the multi-axis haptic device. A performance index for the transparency is defined from the viewpoint of admittance matching, and the optimal solution minimizing the performance index is obtained by solving an H2 optimal problem. To implement a stabilizing haptic controller robust to parametric uncertainties of the haptic device, a robust stable condition using an H∞ norm derived from small gain theorem is proposed. The effectiveness of the proposed haptic control scheme has been experimentally verified for a virtual wall characterized by stiffness and damping properties
Keywords :
control system synthesis; damping; feedback; force control; haptic interfaces; manipulators; observers; optimal control; performance index; robust control; virtual reality; H∞ norm; H2 optimal problem; admittance matching; coupling effect; damping; design method; disturbance observer; haptic interface controller; multi-axis haptic device; parametric uncertainties; robust stability; robust stable condition; small gain theorem; stabilizing haptic controller; stiffness; transparency-optimized feedback controller; virtual wall; Adaptive control; Admittance; Design methodology; Haptic interfaces; Humans; Performance analysis; Robust control; Robust stability; Uncertainty; Virtual environment;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893143
