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Optimal Control for Haptic Rendering: Fast Energy Dissipation and Minimum Overshoot

Hulin, Thomas and González Camarero, Ricardo and Albu-Schäffer, Alin (2013) Optimal Control for Haptic Rendering: Fast Energy Dissipation and Minimum Overshoot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 2013, Tokio, Japan.

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Abstract

Controlling haptic devices in an optimal way is crucial to achieve both, best performance and most realistic haptic feedback. The present article investigates control design of a single degree of freedom haptic device that is interacting with a human operator and rendering a virtual wall affected by time delay. To this end, it suggests different optimization criteria based on the step response of the haptic system. These criteria cover fundamental requirements for efficiently using haptic devices, particularly fast settling and minimum overshoot. For each criterion an optimal path and point inside the stable region of the virtual wall parameters is derived. These optima depend mainly on the system mass, sampling time and time delay. This approach is supported by experiments on two devices, a Falcon haptic device and a DLR/KUKA Light-Weight Robot arm.

Document Type:Conference or Workshop Item (Speech)
Title:Optimal Control for Haptic Rendering: Fast Energy Dissipation and Minimum Overshoot
Authors:
AuthorsInstitution or Email of Authors
Hulin, ThomasThomas.Hulin@DLR.de
González Camarero, RicardoCEIT and TECNUN, University of Navarra
Albu-Schäffer, AlinAlin.Albu-Schaeffer@DLR.de
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
In ISI Web of Science:Yes
Status:Published
Keywords:haptic control, stability boundaries, optimal control, energy-based optimization
Event Title:IROS 2013
Event Location:Tokio, Japan
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Mechatronic Components and Systems
Deposited By: Thomas Hulin
Deposited On:11 Dec 2013 15:41
Last Modified:08 May 2014 23:30

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