Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Control of a Haptic Interface Using LQG/LTR

LQG/LTR을 이용한 Haptic Interface의 강인제어

  • 이상철 (부산대학교 전자공학과 지능로보트 실험실) ;
  • 박헌 ((주)현대시스콤 교환 제어 개발실) ;
  • 이수성 (부산대학교 전자공학과) ;
  • 이장명 (부산대학교 전자공학과)
  • Published : 2002.09.01
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Abstract

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

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References

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