Balachandrand, Ribin und Kozlova, Natalia und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2018) Non-Linear Local Force Feedback Control for Haptic Interfaces. In: 12th International IFAC Symposium on Robot Control, 51 (22). 12th IFAC Symposium on Robot Control, 2018-08-26 - 2018-08-30, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.587. ISSN 2405-8963.
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Offizielle URL: https://www.sciencedirect.com/science/article/pii/S2405896318332944
Kurzfassung
In 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.
elib-URL des Eintrags: | https://elib.dlr.de/126933/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Non-Linear Local Force Feedback Control for Haptic Interfaces | ||||||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||||||
Erschienen in: | 12th International IFAC Symposium on Robot Control | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Band: | 51 | ||||||||||||||||||||
DOI: | 10.1016/j.ifacol.2018.11.587 | ||||||||||||||||||||
Name der Reihe: | IFAC-PapersOnLine | ||||||||||||||||||||
ISSN: | 2405-8963 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Non-linear force control, feedforward control, teleoperation, haptics, time delay | ||||||||||||||||||||
Veranstaltungstitel: | 12th IFAC Symposium on Robot Control | ||||||||||||||||||||
Veranstaltungsort: | Budapest, Hungary | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 26 August 2018 | ||||||||||||||||||||
Veranstaltungsende: | 30 August 2018 | ||||||||||||||||||||
Veranstalter : | IFAC | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Telerobotik (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Radhakrishna Balachandran, Ribin | ||||||||||||||||||||
Hinterlegt am: | 22 Jun 2020 13:57 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:30 |
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