Non-Linear Local Force Feedback Control for Haptic Interfaces ⁎. Issue 22 (2018)

• Record Type: Journal Article
• Authors: Balachandran, Ribin; Kozlova, Natalia; Ott, Christian; Albu-Schaeffer, Alin
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 22(2018)
• Page Start: 486
• Page End: 492
• Publication Date: 2018
• Subjects: Non-linear force control -- feedforward control -- teleoperation -- haptics -- time delay; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.11.587
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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.