This article presents a strategy of haptic guidance for training based on a sub-optimal control law for path planning, designed from theory passive and applied to haptic devices modeling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the PHANToM premium 1.0 haptic device and a closed path planning in its space of admissible configurations with presence of extern disturbances for proof experimental of robust.
Haptic Guidance Based on Sub-optimal Passivity Control
2009-09-01
940717 byte
Conference paper
Electronic Resource
English
Testing Time Domain Passivity Control of Haptic Enabled Systems
Springer Verlag | 2003
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