TY - GEN
T1 - Current closed loop control for increasing virtual stiffness in haptic interaction
AU - Xiaowei, Dai
AU - Yuru, Zhang
AU - Yonggang, Cao
AU - Dangxiao, Wang
PY - 2008
Y1 - 2008
N2 - Virtual stiffness is a critical performance measure for haptic devices. This paper proposes a new controller to increase the virtual stiffness. The design of the controller is based on theoretical analysis of the system stability condition, which indicates that by adding a current closed loop the stability can be increased. We implemented the current closed loop controller with a first order filter and a PID control law. With properly selected parameters of the filter and the PID controller, it is possible to increase the maximum achievable virtual stiffness. Experimental results demonstrate the effectiveness of the proposed method.
AB - Virtual stiffness is a critical performance measure for haptic devices. This paper proposes a new controller to increase the virtual stiffness. The design of the controller is based on theoretical analysis of the system stability condition, which indicates that by adding a current closed loop the stability can be increased. We implemented the current closed loop controller with a first order filter and a PID control law. With properly selected parameters of the filter and the PID controller, it is possible to increase the maximum achievable virtual stiffness. Experimental results demonstrate the effectiveness of the proposed method.
UR - https://www.scopus.com/pages/publications/60749111218
U2 - 10.1109/MESA.2008.4735658
DO - 10.1109/MESA.2008.4735658
M3 - 会议稿件
AN - SCOPUS:60749111218
SN - 9781424423682
T3 - 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
SP - 432
EP - 436
BT - 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
T2 - 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
Y2 - 12 December 2008 through 15 December 2008
ER -