NDLI: Robustly Stabilizing Controller Synthesis for Haptic Devices With Maximized Transparency

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Tajaddodianfar, Farid Ahmadian, Mohammadtaghi Vossoughi, Gholamreza Jazi, Mehdi Molavian
Copyright Year	2010
Abstract	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.
Sponsorship	International
Starting Page	125
Ending Page	132
Page Count	8
File Format	PDF
ISBN	9780791849194
DOI	10.1115/ESDA2010-24342
e-ISBN	9780791838778
Volume Number	ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 5
Conference Proceedings	ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
Language	English
Publisher Date	2010-07-12
Publisher Place	Istanbul, Turkey
Access Restriction	Subscribed
Subject Keyword	Transparency Haptics Robust stability Impedance control Stability Control equipment
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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