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

页码：1423 / 1436

页数：14

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