A transparency-optimized feedback controller with robustness is designed for a multi-axis haptic device, where a disturbance observer is employed to decouple the coupling effect existing in the multi-axis haptic device. A performance index for the transparency is defined from the viewpoint of admittance matching, and the optimal solution minimizing the performance index is obtained by solving an H/sub 2/ optimal problem. To implement a stabilizing haptic controller robust to parametric uncertainties of the haptic device, a robust stable condition using an H/sub /spl infin// norm derived from small gain theorem is proposed. The effectiveness of the proposed haptic control scheme has been experimentally verified for a virtual wall characterized by stiffness and damping properties.
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机译：具有稳健性的透明优化反馈控制器是针对多轴触觉设备设计的，其中使用干扰观察者将存在于多轴触觉装置中存在的耦合效果。从进入匹配的角度定义了透明度的性能指标，通过求解H / SUB 2 /最佳问题来获得最小化性能指数的最佳解决方案。为了实现稳定的触觉控制器，提出了触觉装置的参数不确定性的稳健性，提出了使用来自小增益定理的H / SUB / SPL INFIN // NARM的强大稳定条件。所提出的触觉控制方案的有效性已经通过实验验证了具有刚度和阻尼性能的虚拟壁。
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