Isotropic force control for haptic interfaces

被引：21
|
作者：
Lee, CD [1 ]
Lawrence, DA [1 ]
Pao, LY [1 ]
机构：
[1] Univ Colorado, Boulder, CO 80309 USA
来源：
CONTROL ENGINEERING PRACTICE | 2004年 / 12卷 / 11期
基金：
美国国家科学基金会;
关键词：
multivariable force control; haptic interface; impedance modeling; isotropic bandwidth;
D O I：
10.1016/j.conengprac.2003.12.020
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a multivariable modeling and control strategy that increases the bandwidth of isotropic force transmission in multi-degree of freedom haptic interfaces. The controller structure leads to a straightforward model identification procedure and yields a simple control law that can be easily implemented. Experimental results show that the multivariable closed-loop control significantly improves performance on a five degree-of-freedom in-parallel haptic interface. (C) 2004 Elsevier Ltd. All. rights reserved.
引用
收藏
页码：1423 / 1436
页数：14
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