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. doi: 10.1109/iros.2013.6697004.
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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.
Item URL in elib: | https://elib.dlr.de/86633/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
Title: | Optimal Control for Haptic Rendering: Fast Energy Dissipation and Minimum Overshoot | ||||||||||||||||
Authors: |
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Date: | November 2013 | ||||||||||||||||
Journal or Publication Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||
Open Access: | Yes | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | No | ||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||
DOI: | 10.1109/iros.2013.6697004 | ||||||||||||||||
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 System Technology | ||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||
DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems | ||||||||||||||||
Deposited By: | Hulin, Dr. Thomas | ||||||||||||||||
Deposited On: | 11 Dec 2013 15:41 | ||||||||||||||||
Last Modified: | 24 Jul 2023 09:27 |
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