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강인적응 알고리즘을 통한 Haptic Interlace의 임피던스 제어
A Robust Adaptive Impedance Control Algorithm for Haptic Interfaces

박헌   (부산대학교 전자공학과UU0000613  ); 이상철   (부산대학교 전자공학과UU0000613  ); 이수성   (부산대학교 전자공학과UU0000613  ); 이장명   (부산대학교 전자공학과UU0000613  );
  • 초록

    Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters'variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.


  • 주제어

    impedance control .   robust control .   adaptive control .   master robot .   teleoperation.  

  • 참고문헌 (20)

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  • 이 논문을 인용한 문헌 (2)

    1. Park, Heon ; Lee, Sang-Chul ; Lee, Su-Sung ; Lee, Jang-Myung 2002. "A Robust Adaptive Impedance Control Algorithm for Haptic Interfaces" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering, 8(5): 393~400     
    2. Choi, You-Rak ; Lee, Jae-Cheol ; Kim, Jae-Hee ; Kim, Seung-Ho ; Kwon, Oh-Seok 2013. "Development of Multi Haptic Control Environments for Tele-operating Robot System" 멀티미디어학회논문지 = Journal of Korea Multimedia Society, 16(6): 689~699     

 저자의 다른 논문

  • 이수성 (1)

    1. 2002 "LQG/LTR을 이용한 Haptic Interface의 강인제어" 제어·자동화·시스템공학 논문지 = Journal of control, automation and systems engineering 8 (9): 757~763    
  • 이장명 (101)

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