A design method of a haptic interface controller considering transparency and robust stability
نویسندگان
چکیده
In this paper, a transparency-optimized feedback controller with robustness is designed for multi-axis haptic device, where a disturbance observer is employed to decouple the coupling e ect existing in multiaxis haptic device. A performance index for the transparency is de ned in a viewpoint of admittance matching, and the optimal solution minimizing the performance index is obtained by solving H2 optimal problem. To implement a stabilizing haptic controller robust to parameteric uncertainties of haptic device, a robust stable condition using H1 norm derived from small gain theorem is proposed. The e ectiveness of the proposed haptic control scheme has been experimentally veri ed for a virtual wall characterized by sti ness and damping properties.
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