Robust Control of Interaction with Haptic Interfaces

摘要

The primary concern in haptic systems is to achieve stable interaction under any operating conditions and for all simulated virtual environments, without unwanted oscillations that degrade virtual surface rendering. This paper represents a novel approach for controlling interaction with a haptic interface based on robust control design framework established for the control synthesis of interaction between an impedance-controlled robot and a passive environment. Initial experiments results have demonstrated advantages, high performance in interaction with a very stiff environment and reliability of the new algorithms.