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A New Approach to Haptic Rendering by Position Control
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.ORCID iD: 0000-0002-3337-1639
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.ORCID iD: 0000-0001-5703-5923
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.ORCID iD: 0000-0001-6692-2794
2019 (English)In: 2019 IEEE 15th International Conference on Control and Automation (ICCA), Edinburg, Scotland: Institute of Electrical and Electronics Engineers (IEEE), 2019, Vol. 8899956, p. 148-153Conference paper, Published paper (Refereed)
Abstract [en]

Conventional force rendering methods in haptic applications often suffer stability issues when simulating stiff objects such as a virtual wall. This paper argues that the emphasis in such scenarios is to minimize the penetration into the virtual wall instead of emulating the force to the operator. Therefore, position controllers are developed to achieve better haptic rendering of the virtual wall. The new rendering method is implemented on a complex 6-DOF parallel structure haptic device. The position controllers are developed by both LQR and 6-joint independent PID methods. The control method exploits model-based development tools to obtain the linear control system model without deriving the mathematical model of the complex haptic device. The performance of the two controllers is compared on a simulated prototype of the haptic device.

Place, publisher, year, edition, pages
Edinburg, Scotland: Institute of Electrical and Electronics Engineers (IEEE), 2019. Vol. 8899956, p. 148-153
Series
IEEE International Conference on Control and Automation, ICCA, ISSN 1948-3449 ; 2019
Keywords [en]
haptic, parallel structure machine, LQR
National Category
Control Engineering
Research subject
Applied and Computational Mathematics, Optimization and Systems Theory; Machine Design
Identifiers
URN: urn:nbn:se:kth:diva-268637DOI: 10.1109/ICCA.2019.8899956Scopus ID: 2-s2.0-85075792031ISBN: 9781728111643 (print)OAI: oai:DiVA.org:kth-268637DiVA, id: diva2:1394451
Conference
15th IEEE International Conference on Control and Automation, ICCA 2019; Edinburgh; United Kingdom; 16 July 2019 through 19 July 2019
Funder
XPRES - Initiative for excellence in production research
Note

QC 20200219

Available from: 2020-02-19 Created: 2020-02-19 Last updated: 2020-02-19Bibliographically approved

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Wang, YangFeng, LeiAndersson, Kjell
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CiteExportLink to record
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