Joint Control Strategy for Haptic Guidance

This article presents a strategy of haptic guidance for training based on a sliding model control law for path planning, designed from passivity theory, applied to haptic devices modelling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the PHANToM premium 1.0 haptic device and a closed path planning in its space of admissible configurations with presence of external disturbances for experimental proof of robustness. The proposed sliding model controller is the continuity and therefore it is chattering-free. We propose a variable structure control of sliding modes of second order, using hyperbolic functions to solve the problem of chattering.