Rendering mass using model matching framework

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 sh...

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Bibliographic Details
Main Authors: Desai, Indrajit, Gupta, Abhishek, Chakraborty, Debraj
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Damping
Force
Haptic interfaces
Performance evaluation
Rendering (computer graphics)
Stability analysis
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Summary: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.
ISSN:2324-7355
DOI:10.1109/HAPTICS.2018.8357151