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A transparency-optimized control for a 6-DOF parallel-structured haptic device

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4 Author(s)
H. W. Kim ; Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Ansan, South Korea ; K. S. Eom ; I. H. Suh ; B. -J. Yi

This paper presents a design method of transparency optimized feedback controller with robustness for a parallel 6-DOF haptic system. A disturbance observer is employed to eliminate coupling effects that exist in a mechanically coupled structure. A performance index for the transparency is defined by admittance matching, and by solving the H2 optimal problem. The optimal solution that minimizes the performance index is obtained.

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Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:3 )

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