Robust Passive Computed Torque Control Applied to Haptic Human-Machine Interaction Systems

This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking in its workspace. With the purpose to proof the passivity and stability results, the control strategy is evaluated in a experimental platform, in our case the PHANToM premium 1.0 haptic device.