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Robust stable control of haptic devices based on transparency maximization

Ahmadian, M. T ; Sharif University of Technology | 2011

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  1. Type of Document: Article
  2. DOI: 10.1243/09596518JSCE1015
  3. Publisher: 2011
  4. Abstract:
  5. The performance of hapticdevicesisevaluatedbasedontheconceptoftransparency, whiletheirstabilityhasprevalentlybeenevaluatedbasedonthepassivitycriterion. Duetotheconservativenessofpassivity, itappearsasanobstacletoimprovingtransparency.Inthepresentpaper, passivityissuggestedtobereplacedbythecomplementarystabilitycriterionwhichaccoun tsfortherobuststabilityoftheinteractioninthepresnceofuncertainuserhanddynamics. Inthisrespect, analgorithmisproposedwhichguaranteestransparencyofthehapticdeviceinastablemanne r.Assumingthatthedynamicsofthedeviceisknown, acertaincompensatorystructureisassigned. Thisspecialstructureguaranteestransparencyofthedevicebycompensatingforthedynami csofthedeviceanditscontrolloop. Thedesignobjectiveistoobtainastabilizingcontrollerwhichachievesrobustinteractio nstabilityinthepresenceofparametricuncertaintiesfuserhanddynamicsandothersourc esofuncertainties.Aniterativemethodisimplemented,inconjunctionwiththeD- Kiterationalgorithm,toderivecontrollerdynamics. Thealgorithmisappliedtoaserieselasticactuator-basedhapticdevice. Thisresultsinawidenedfrequencyrangeoftransparentimpedanceemulation. Simulationresultsconfirmenhancedtransparencyandrobuststability
  6. Keywords:
  7. Haptic devices ; Impedan cecontrol ; Robust stability ; Stable control ; Controller dynamics ; Haptics ; Impedance control ; Parametric uncertainties ; Robust stability ; Series elastic actuators ; Sources of uncertainty ; Stabilizing controllers ; Control ; Engineering ; Industrial engineering ; Algorithms ; Controllers ; Dynamics ; Iterative methods ; Stability ; Stability criteria ; Transparency
  8. Source: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering ; Volume 225, Issue 7 , 2011 , Pages 954-967 ; 09596518 (ISSN)
  9. URL: http://pii.sagepub.com/content/225/7/954