Paper Title:
Application of Two-Port Network in Bilateral Control for a Haptic Interface with Force-Position Compensation
  Abstract

The two-port network theory for describing the characteristics of the haptic interface is presented; the four-channel bilateral control architecture is introduced, and two control methods named position-error-based control and direct force reflection control (PEBC & DFRC) are also presented. Two main problems caused by the coupling between position and force information for transparency improvement of the haptic interface are also be discussed and a Model-Based Force-Position Compensation Strategy to enhance the transparency of the haptic interface is proposed. By embedding the compensation unit into the DFRC architecture, the Haptic Interface could be controlled with precise position and high-fidelity force feedback.

  Info
Periodical
Advanced Materials Research (Volumes 199-200)
Edited by
Jianmin Zeng, Zhengyi Jiang, Taosen Li, Daoguo Yang and Yun-Hae Kim
Pages
1211-1216
DOI
10.4028/www.scientific.net/AMR.199-200.1211
Citation
J. J. Meng, J. T. Yun, "Application of Two-Port Network in Bilateral Control for a Haptic Interface with Force-Position Compensation", Advanced Materials Research, Vols. 199-200, pp. 1211-1216, 2011
Online since
February 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Dong Jie Li, Wei Bin Rong, Li Ning Sun, Wan Zhe Xiao
Materials Engineering
Abstract:In this paper, a master/slave telenanomanipulation control system with force feedback is established with the micro-positioner (Attocube)...
1746
Authors: Dong Jie Li, Wei Bin Rong, Li Ning Sun, Wan Zhe Xiao, Yu Zou
Abstract:In this paper, we focus on the need for real time nanomanipulation, a 3D Master/Slave tele-nanomanipulation platform is studied with the...
109
Authors: Nattachai Pothi
VII: Mechatronics and Control
Abstract:This paper presents a design of a one-degree-of-freedom haptic interface system with an aim to investigate control of the system. The system...
1323
Authors: Vladimir Prada, Gregory Conde, Armando Figueredo, Julián Sánchez, Alexander Santos
Chapter 9: Mechatronics, Control and Robotics
Abstract:This paper presents the design and construction of a haptic device. This device aims to generate a tactile feedback to the user. The feedback...
718