Control Law Design for Haptic Interfaces to Virtual Reality

Adams, R. and Hannaford, B. (2002) Control Law Design for Haptic Interfaces to Virtual Reality. IEEE Trans. Control Systems Technology, 10 (1). pp. 3-13.

[img] Text
Rep146.pdf

Download (168kB)
Official URL: http://brl.ee.washington.edu/BRL_Pubs/Pdfs/Rep146....

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.

Item Type: Article
Subjects: D Haptics
Divisions: Department of Electrical Engineering
Depositing User: Mohammad Haghighipanah
Date Deposited: 30 Jul 2015 17:58
Last Modified: 30 Jul 2015 17:58
URI: http://brl.ee.washington.edu/eprints/id/eprint/228

Actions (login required)

View Item View Item