Title :
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
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;
Conference_Titel :
Haptic Audio Visual Environments and Games (HAVE), 2012 IEEE International Workshop on
Conference_Location :
Munich
Print_ISBN :
978-1-4673-1568-5
DOI :
10.1109/HAVE.2012.6374442
