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[146] Citation: Abstract
The goal of control law design for haptic displays is to provide a safe
and stable user interface while maximizing the operator� sense of
kinesthetic immersion in a virtual environment. This paper outlines a
control design approach which guarantees the stability of a haptic
interface when coupled to a broad class of human operators and virtual
environments. Two-port absolute stability criteria are used to develop
explicit control law design bounds for three different haptic display
implementations: the basic impedance display, the impedance display with
force compensation, and the admittance display. The strengths and
weaknesses of each approach are illustrated through numerical and
experimental results for a three degree-of-freedom device. The example
highlights the ability of the proposed design procedure to handle some
of the more difficult problems in control law synthesis for haptics,
including structural flexibility and non-collocation of sensors and
actuators.
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Updated: Tue Aug 19 09:16:09 2008
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