Kinesthetic Guidance Based on PID Control for Haptic Interaction

Author

Vega-Hernández, David ; García-Valdovinos, Luis G. ; Domínguez-Ramírez, Omar A. ; Curiel-Anaya, Arturo

Author_Institution

CIDESI Eng. Center, Queretaro, Mexico

fYear

2010

fDate

Sept. 28 2010-Oct. 1 2010

Firstpage

624

Lastpage

630

Abstract

In this paper a PID control applied particularly in robot manipulators. To understand the development of the proposal presents a mathematical preliminary section we used, we explicitly describe relevant aspects of kinematics and dynamics of the haptic device Phantom Premium 1.0, technology and mathematical models, and the design and experimental results of PID control based on passivity, the type of state feedback, variable structure adaptation and sub-optimization. It also presents a test design for stability in the sense of Lyapunov.

Keywords

Lyapunov methods; control engineering computing; control system synthesis; haptic interfaces; manipulator dynamics; stability; state feedback; three-term control; variable structure systems; Lyapunov method; PID control design; haptic device PHANToM Premium 1.0 technology; haptic interaction; kinesthetic guidance; mathematical preliminary section; robot manipulators; stability; state feedback; sub-optimization; variable structure adaptation; Equations; Haptic interfaces; Jacobian matrices; Joints; Kinematics; Mathematical model; Phantoms; Haptic Interaction; Kinesthetic Guidance; Lyapunov based PID Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010

Conference_Location

Morelos

Print_ISBN

978-1-4244-8149-1

Type

conf

DOI

10.1109/CERMA.2010.77

Filename

5692408