A Transparency-optimized Control for a 6-DOF parallel-structured Haptic Device
نویسندگان
چکیده
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 e ects that exist in a mechanically coupled structure. A performance index for the transparency is de ned by admittance matching, and by solving H2 optimal problem, the optimal solution that minimizes the performance index is obtained.
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