Performance of a haptic device is evaluated based on the concept of transparency which indicates the match between the impedance transmitted to the user and the target virtual impedance. Stability of a haptic device prevalently has been evaluated based on the passivity criterion. Due to conservativeness of passivity, it appears as an obstacle to improve transparency. In this paper, passivity is suggested to be replaced by the complementary stability criterion which accounts for the robust stability of the interaction in the presence of uncertain user hand dynamics. In this respect, an algorithm is proposed which guarantees transparency of the haptic device in a stable manner. Assuming that the dynamics of the device is known, a certain structure of compensators is assigned. This special structure guarantees transparency of the device by compensating for the dynamics of the device and its control loop. The design objective is to obtain a stabilizing controller which achieves robust stability for the interaction of the device in the presence of parametric uncertainties of user hand dynamics and other sources of uncertainties. An iterative method is implemented to derive controller dynamics. The algorithm is applied to a series elastic actuator based haptic device model. Simulation results confirm enhanced transparency and robust stability.
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ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
July 12–14, 2010
Istanbul, Turkey
Conference Sponsors:
- International
ISBN:
978-0-7918-4919-4
PROCEEDINGS PAPER
Robustly Stabilizing Controller Synthesis for Haptic Devices With Maximized Transparency Available to Purchase
Farid Tajaddodianfar,
Farid Tajaddodianfar
Sharif University of Technology, Tehran, Iran
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Mohammadtaghi Ahmadian,
Mohammadtaghi Ahmadian
Sharif University of Technology, Tehran, Iran
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Gholamreza Vossoughi,
Gholamreza Vossoughi
Sharif University of Technology, Tehran, Iran
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Mehdi Molavian Jazi
Mehdi Molavian Jazi
Sharif University of Technology, Tehran, Iran
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Farid Tajaddodianfar
Sharif University of Technology, Tehran, Iran
Mohammadtaghi Ahmadian
Sharif University of Technology, Tehran, Iran
Gholamreza Vossoughi
Sharif University of Technology, Tehran, Iran
Mehdi Molavian Jazi
Sharif University of Technology, Tehran, Iran
Paper No:
ESDA2010-24342, pp. 125-132; 8 pages
Published Online:
December 28, 2010
Citation
Tajaddodianfar, F, Ahmadian, M, Vossoughi, G, & Jazi, MM. "Robustly Stabilizing Controller Synthesis for Haptic Devices With Maximized Transparency." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 5. Istanbul, Turkey. July 12–14, 2010. pp. 125-132. ASME. https://doi.org/10.1115/ESDA2010-24342
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