TY - JOUR
T1 - Non-Linear Local Force Feedback Control for Haptic Interfaces
AU - Balachandran, Ribin
AU - Kozlova, Natalia
AU - Ott, Christian
AU - Albu-Schaeffer, Alin
N1 - Publisher Copyright:
© 2018
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
KW - Non-linear force control
KW - feedforward control
KW - haptics
KW - teleoperation
KW - time delay
UR - http://www.scopus.com/inward/record.url?scp=85058226868&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2018.11.587
DO - 10.1016/j.ifacol.2018.11.587
M3 - Article
AN - SCOPUS:85058226868
SN - 1474-6670
VL - 51
SP - 486
EP - 492
JO - IFAC Proceedings Volumes (IFAC-PapersOnline)
JF - IFAC Proceedings Volumes (IFAC-PapersOnline)
IS - 22
ER -