Modeling and impedance control of a 6-DOF haptic teleoperation system

Author

Vu Minh Hung ; Trinh Quang Trung

Author_Institution

Basic Sci. Dept., PetroVietnam Univ. (PVU), Vung Tau, Vietnam

fYear

2013

fDate

25-28 Nov. 2013

Firstpage

134

Lastpage

139

Abstract

A new dynamic model and impedance control algorithm of a haptic feedback device for robotic teleoperation is analyzed in this paper. User forces applied to the haptic device through human hand movements are modeled as disturbances to the control system. Detailed analysis for modeling haptic device and human hand is provided and then a self-tuning Fuzzy PID control scheme is proposed to improve system transparency by achieving good force tracking performances. This control is developed to tune PID parameters based on the environment-slave contact force and the human-haptic device contact force in real-time. Experiment results show good force tracking comparison for the 6-DOF haptic teleoperation system.

Keywords

control system synthesis; electric variables control; force control; fuzzy control; haptic interfaces; manipulators; telerobotics; three-term control; 6-DOF haptic teleoperation system; PID parameters tune; dynamic model; environment-slave contact force; force tracking comparison; force tracking performances; haptic feedback device; human hand movements; human-haptic device contact force; impedance control algorithm; robotic teleoperation; self-tuning fuzzy PID control scheme; Dynamics; Force; Haptic interfaces; Mathematical model; Robot sensing systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Information Sciences (ICCAIS), 2013 International Conference on

Conference_Location

Nha Trang

Print_ISBN

978-1-4799-0569-0

Type

conf

DOI

10.1109/ICCAIS.2013.6720543

Filename

6720543