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Balachandrand, Ribin and Kozlova, Natalia and Ott, Christian and 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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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896318332944
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/126933/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Non-Linear Local Force Feedback Control for Haptic Interfaces | ||||||||||||||||||||
| Authors: |
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| Date: | 2018 | ||||||||||||||||||||
| Journal or Publication Title: | 12th International IFAC Symposium on Robot Control | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| Volume: | 51 | ||||||||||||||||||||
| DOI: | 10.1016/j.ifacol.2018.11.587 | ||||||||||||||||||||
| Series Name: | IFAC-PapersOnLine | ||||||||||||||||||||
| ISSN: | 2405-8963 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Non-linear force control, feedforward control, teleoperation, haptics, time delay | ||||||||||||||||||||
| Event Title: | 12th IFAC Symposium on Robot Control | ||||||||||||||||||||
| Event Location: | Budapest, Hungary | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 26 August 2018 | ||||||||||||||||||||
| Event End Date: | 30 August 2018 | ||||||||||||||||||||
| Organizer: | IFAC | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Telerobotics (old) | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||
| Deposited By: | Radhakrishna Balachandran, Ribin | ||||||||||||||||||||
| Deposited On: | 22 Jun 2020 13:57 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:30 |
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