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 H/sub 2/ optimal problem. The optimal solution that minimizes the performance index is obtained.
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机译：针对并行六自由度触觉系统，本文提出了一种具有鲁棒性的透明优化反馈控制器设计方法。干扰观测器用于消除机械耦合结构中存在的耦合效应。通过导纳匹配和解决H / sub 2 /最佳问题来定义透明度的性能指标。获得了使性能指标最小化的最佳解决方案。
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