Forcebased impedance control of a haptic master system for teleoperation
Identifieur interne : 006D72 ( Main/Merge ); précédent : 006D71; suivant : 006D73Forcebased impedance control of a haptic master system for teleoperation
Auteurs : A. Frisoli [Italie] ; E. Sotgiu [Italie] ; C. A. Avizzano [Italie] ; D. Checcacci [Italie] ; M. Bergamasco [Italie]Source :
- Sensor Review [ 0260-2288 ] ; 2004-03-01.
Abstract
This paper analyzes the design of a forcebased impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closedloop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented.
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DOI: 10.1108/02602280410515815
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ISTEX:CA0E3787936B230B4AB0B5763ECFD49E44095319Le document en format XML
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<front><div type="abstract" xml:lang="en">This paper analyzes the design of a forcebased impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closedloop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented.</div>
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