Transparency Enhancement of Haptic Interface Using Model Matching Approach

被引：0
|
作者：
Desai, Indrajit [1 ]
Gupta, Abhishek [1 ]
Chakraborty, Debraj [2 ]
机构：
[1] Indian Inst Technol, Dept Mech Engn, Bombay 400076, Maharashtra, India
[2] Indian Inst Technol, Dept Elect Engn, Bombay 400076, Maharashtra, India
来源：
2016 INDIAN CONTROL CONFERENCE (ICC) | 2016年
关键词：
QUANTIZATION; PASSIVITY;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a model matching approach for impedance control of haptic interfaces using the H-infinity control framework. The force applied by the operator is considered to an exogenous input, and the controller is designed to maximize transparency. Through simulations, it is demonstrated that the proposed approach can be used to enhance transparency of a haptic interface, and to simulate stiffer virtual walls than possible with an open loop impedance controller.
引用
收藏
页码：399 / 404
页数：6
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