Publication

Hanyang University HumanRobotics Lab

International Conference
A transparency-optimized control for a 6-DOF parallel-structured haptic device
Conference
IEEE International Conference on Robotics and Automation
Author
H. W. Kim, K. S. Eom, I. H. Suh, and B. -J. Yi
Year
2001
Date
2001.05.21
File
[2001]A Transparency-optimized Control for a 6-DOF parallel-structured Haptic Device.pdf (520.5K) 0회 다운로드 DATE : 2020-10-17 18:00:07
This paper presents a design method of transparency optimized feedback controller with robustness for a parallel 6-DOF haptic system. A disturbance observer is employed to eliminate coupling effects that exist in a mechanically coupled structure. A performance index for the transparency is defined by admittance matching, and by solving H2 optimal problem, the optimal solution that minimizes the performance index is obtained.