Design and Implementation of Impedance Control for Force Feedback Applications

• Main Authors: Jia-Sheng Hu, 胡家勝
• Other Authors: Mi-Ching Tsai
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/99208355464957240174

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 91 === This thesis presents two impedance control strategies, i.e., the model reference impedance control and direct torque control, for implementing a low-cost haptic system. In comparison with traditional compliance control systems, a PI-type disturbance observer was employed in the proposed model-reference impedance control system, and a “Low Acceleration Estimator (LAE)” was used in the direct torque control system, respectively, so that the torque, velocity and acceleration sensors were not required. The robust stability of the proposed controllers has also been proved mathematically. The two proposed control strategies can be widely applied to information technology, entertainment and military training, etc. due to their features of easy implementation and cost effectiveness. A powered force feedback joystick and a virtual reality exercise bike are taken as two application examples for demonstration. Experimental results show the feasibility and performance of the proposed methods.