HAPTIC FORCE CONTROL BASED ON IMPEDANCE/ADMITTANCE CONTROL

A Haptic Teleoperation Approach Based on Contact Force Control

This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control structure needed to achieve decoupled task dynamics. A virtual spring connects the master and slave systems and a closed-loop force controller compensates for the dynamics of the slave system, rendering transparent the ...

Simulation of the Admittance Control Based Haptic Interface Device

Disturbance Observer Based Closed Loop Force Control for Haptic Feedback

Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions. Advanced force control in such interfaces can increase simulation fidelity through improvement of the transparency of the device, and can further improve robustness. However, closed loop force-feedback is limited both due to the bandwidth limitations of force sen...

Constrained Lagrangian-Based Force-Position Control for Haptic Guidance

A methodology, and its experimental validation, is presented to compute the contact force as the solution of the differential algebraic equations that arise from the dynamical haptic display (PHANToM) and a dynamical (deformable) virtual object. Based on this dynamics, a reaction force based on the constrained Lagrangian is computed to reproduce a realistic contact force as a function on the dy...

simulation of the admittance control based haptic interface device

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