4.4 Article

A Joint-space Position Control-based Approach to Haptic Rendering of Stiff Objects using Gain Scheduling

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A Position-Control Based Approach to Haptic Rendering of Stiff Objects

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Summary: This paper proposes an approach using a position controller for better haptic rendering of a virtual wall, arguing that minimizing penetration into the wall is more important than modeling it as a spring-damper system. The approach utilizes model-based development tools to obtain a linear control system model without the need for an analytical model of the haptic device dynamics, and a simulation-based performance comparison of two controllers is conducted for a 6-DOF parallel structure haptic device.

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