改进了力滤波补偿器的触觉交互控制

J. Podobnik, M. Munih
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引用次数: 4

摘要

触觉界面的稳定性对安全、高质量的触觉交互至关重要。研究了自由空间中导纳控制触觉界面的接触不稳定性问题。用专门的抓力测量系统进行了实验,以探索接触不稳定条件。这里的基线实验结果与触觉交互模型的模拟结果进行了比较。该模型还可作为稳定性和性能改进的基础,并采用特殊的补偿滤波器进行力滤波。实验和仿真结果都证实了稳定性的提高。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Improved haptic interaction control with force filter compensator
Stability of a haptic interface is essential for safe and quality haptic interaction. This paper addresses the contact instability of admittance control haptic interface in free space. Experiments with special dedicated system for measuring grasp force have been performed to explore conditions of contact instability. Baseline experimental results are here compared to simulations from a model of haptic interaction. The model serves also as a basis for stability and performance improvements with a special compensator filter for force filtering. Experimental and simulation results both confirm stability improvements.
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