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Non-Linear Local Force Feedback Control for Haptic Interfaces

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, 26 August - 30 August, 2018, 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


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/
Document Type:Conference or Workshop Item (Speech)
Title:Non-Linear Local Force Feedback Control for Haptic Interfaces
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Balachandrand, RibinRibin.Balachandran (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Journal or Publication Title:12th International IFAC Symposium on Robot Control
Refereed publication:Yes
Open Access:Yes
In ISI Web of Science:No
DOI :10.1016/j.ifacol.2018.11.587
Series Name:IFAC-PapersOnLine
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 Dates:26 August - 30 August, 2018
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:11 Mar 2022 15:32

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