Haptic Guidance Based on Sub-optimal Passivity Control

Abstract

This article presents a strategy of haptic guidance for training based on a sub-optimal control law for path planning, designed from theory passive and applied to haptic devices modeling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the PHANToM premium 1.0 haptic device and a closed path planning in its space of admissible configurations with presence of extern disturbances for proof experimental of robust.