文章基本信息

标题：Non-Linear Local Force Feedback Control for Haptic Interfaces ⁎
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作者：Ribin Balachandran ; Natalia Kozlova ; Christian Ott 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：486-492
DOI：10.1016/j.ifacol.2018.11.587
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a time-continuous, non-linear local force feedback control is proposed which produces low inertia of the haptic interface during free slave motion as well as higher transparency during slave-environment interactions, by modifying the local force gain as a function of the measured forces of the slave-environment interaction. Stability of the system is proven using damping injection based on a model-based passivation approach and a model-free time domain passivity approach. Teleoperation experiments with time-delay on a KUKA light weight robot-based master device show improvements in performance while using the proposed method.
关键词：KeywordsNon-linear force controlfeedforward controlteleoperationhapticstime delay