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

Abstract:

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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 and 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

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Price:

$35.00

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