Application of Two-port Network in Bilateral Control for a Haptic Interface with Force-position Compensation

被引：1

作者：

Meng, Jian Jun ^{[1
]}

Yun, Jin Tian ^{[1
]}

机构：

[1] Tianjin Polytech Univ, Sch Mech & Elect Engn, Tianjin 300160, Peoples R China

来源：

ADVANCES IN MECHANICAL DESIGN, PTS 1 AND 2 | 2011年 / 199-200卷

关键词：

Two-port Network; Bilateral Control; Haptic Interface; Force-Position Compensation; STABILITY;

D O I：

10.4028/www.scientific.net/AMR.199-200.1211

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The two-port network theory for describing the characteristics of the haptic interface is presented; the four-channel bilateral control architecture is introduced, and two control methods named position-error-based control and direct force reflection control (PEBC & DFRC) are also presented. Two main problems caused by the coupling between position and force information for transparency improvement of the haptic interface are also be discussed and a Model-Based Force-Position Compensation Strategy to enhance the transparency of the haptic interface is proposed. By embedding the compensation unit into the DFRC architecture, the Haptic Interface could be controlled with precise position and high-fidelity force feedback.

引用

页码：1211 / 1216

页数：6

共 35 条

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