Desktop Layout

Oral Session 2A: Control of Haptic Devices
Technical Papers
Colonial Ballroom, Chairs: Nick Colonnese and Jeremy Brown
Talks will begin every 15 min.
Rendering Mass using Model Matching Framework
Indrajit Desai, Abhishek Gupta, and Debraj Chakraborty
(IIT Bombay, India)
Publisher's Version
Abstract: This paper presents a model matching based controller design technique to render mass using a haptic interface. The main hindrance in stably rendering mass through the open loop impedance control is the noise added to the acceleration signal due to twice differentiation of the position signal. We show that using model matching framework we can stably and accurately render desired mass. In addition, we present that effects of inherent dynamics such as damping present in the system can be minimized using the model matching framework. Further, we perform experiments on a single degree of freedom haptic device to validate our claim.


Time stamp: 2019-03-26T19:10:48+01:00