Force-based impedance control of a haptic master system for teleoperation

被引：25
|
作者：
Frisoli, A. [1 ]
Sotgiu, E. [1 ]
Avizzano, C.A. [1 ]
Checcacci, D. [1 ]
Bergamasco, M. [1 ]
机构：
[1] PERCRO - Scuola Superiore, Sant'Anna, Pisa, Italy
来源：
Sensor Review | 2004年 / 24卷 / 01期
关键词：
Biomedical equipment - Closed loop control systems - Electric appliances - Electric impedance - Feedback - Force control - Force measurement - Remote control - Sensors;
D O I：
10.1108/02602280410515815
中图分类号：
学科分类号：
摘要：
This paper analyzes the design of a force-based impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closed-loop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented.
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页码：42 / 50
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