Haptic Force Control based on Impedance/Admittance Control
Abstract
In this paper, several experiments were performed to evaluate the suitability of impedance control with force feedback for haptic interface development. The difference between conventional application of impedance control in robot motion control and its application in haptic interface development is investigated.Open loop impedance control methodology is implemented for static case and a general-purpose robot under open loop impedance control was developed as a haptic device, while a closed loop model based impedance control was used for haptic controller design in both static and dynamic case. The factors that could affect to the performance of a haptic interface are also investigated experimentally using parametric studies. The experiments were carried out using an experimental setup. Experimental results for 1 and 2DOF rotational motion and translational motion systems are presented
