Robust control of interaction with haptic interfaces

TitleRobust control of interaction with haptic interfaces
Publication TypeConference Publication
Year of Publication2007
AuthorsSurdilovic, D, Radojicic J
Conference NameProceedings - IEEE International Conference on Robotics and Automation
Pages3237 - 3244
Date Published2007///
Abstract

The primary concern in haptic systems is to achieve stable interaction under any operating conditions and for all simulated virtual environments, without unwanted oscillations that degrade virtual surface rendering.This paper represents a novel approach for controlling interaction with a haptic interface based on robust control design framework established for the control synthesis of interaction between an impedance-controlled robot and a passive environment. Initial experiments results have demonstrated advantages, high performance in interaction with a very stiff environment and reliability of the new algorithms. © 2007 IEEE.

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