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CDC
2010
IEEE

Adaptive control for haptics with time-delay

13 years 5 months ago
Adaptive control for haptics with time-delay
This paper presents an adaptive haptic control for a one degree-of-freedom surgical device. The control addresses the problem of hitting a solid object too hard in the presence of time delay. The proposed control runs in the inner-loop, with no time delay, and follows commanded forces from the outer loop. A Lyapunov-stable backstepping-with-tuning-functions design provides a way to ensure smooth forces are applied that guarantee stability in the presence of unmodeled environmental stiffness. The method naturally becomes a velocity-tracking system when no forces are measured, without need for a switching control law. Experiments using a Phantom hand controller interacting with simulated environment show that collision forces are substantially reduced. The overshoot during a puncture, when moving from a stiff environment to free space, is not worse than with other designs.
Dean Richert, C. J. B. Macnab, Jeff K. Pieper
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Dean Richert, C. J. B. Macnab, Jeff K. Pieper
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