Robust_Control_of_a_Haptic_Interface_Using_LQG_LTR_Journal

Robust_Control_of_a_Haptic_Interface_Using_LQG_LTR_Journal...

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Unformatted text preview: LQG/LTR—‘é mgét Haptic _InterfaCe—9l'- Qflxllol. _ - Robust Control of a Haptic' Interface. Using LQG/LTR 0| erg, Fit 0| $éi0| «2+9; _ (Sang-Chul Lee, Heon Park, Su-Sutlg Lee and Jang—Myung Lee) ' tram; "tl°l “I?!” -_~ Magenta The Institute Of Control, Automation and Systems Engineers. KOREA ' _ ' EEKI-E "2-9:? a: ' 242.51% Irina: “A” ERIE-Ft. . 'Joumal oiControl, Automation and "Systems Engineering, Vol. 8, No. 9, Septem bor, 2002 757 I LQG/LTR-g— Olgfii Haptic Interface—9| Z—iflxll Oi _ Robust Controlof a Haptic InterfaceUsing LQG/LTR ol- M :ia at Ei, QI'A M D En"! (Sang-Chill Lee. Heon Park. Su-Sung Lee and Jang—Myung Lee) . Abstract : A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force. from it. A control algorithm of haptic interface has been studied to improve the 1 robustness and stability to uncertain-_ dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model for a 6 DOF haptic device was preposed to form a real time control system, ' which does not include nonlinear Components. LQG/LTR scheme was adopted in this paper for the compensation of tin-modeled dynamics. The recovery of the force from the remote robot at the haptic interface was demonstrated through the experiments. Keywords : LQG/LTR. 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' - - Eixttfifl W101] EH 1} :33 e fiflflfi%fli flit} 73M 3402—3), 64024:); gee-e aflI%QEEE§% fezéfiw OHM tee. ' m) = Ax(:) + Bu(t) + Lax) (13—3) y(t) = CxO‘) +90) (13-h) _ em at) 9+ am e eeot 0e. wee-2.: we we eat. ' _ Et5(r)t=0, Et:(r)Té(r)1=16(r—r) (14-a) Ewan =0, Etaafeon =y15<r~n (14-h) E‘E‘E Et *EFEE- 3%7 1 %E’E}7 1 (model based compensator) i fine-eh“? 7 e.- iPfi-Efl eeeeote. «tame—eon 1%- ‘Héfitfifl OWE] QEMIE’lfifi‘E H E— r>* A": 2:: rq—‘a NE 55., r-tu 2a. H 3:130?" (15) ,u WW P 1;: Otaflfifl ewe Riccauétge—t—Et $2} it: Silt}. AP+PAT +LLT ——1—PCTCP = 0 - (16) GP (5) = C(sI — A)“ H (17) efltfitfluflfl L e- 75%"34 3%.. ifirflew eem-e- era/kt 717.} $4311 eaten}. enteeeeee ztittwt] wee-M e— Eetete eotflfieksmgmar systemwtet eeeee Mi:- Eétotee zt—eee Ae— we EE- eeot atfleee e gem ee L e— $5; 41 21511120]. 760 7H 33%513-394 711$; ragga 4:91 swag (nxl) 3115a ‘3 L 94 2% 35%- li 3m #:1121342;- or... EM :1 7n 94 711%; fl%%% $5314.. 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Km = Gm — A + BG + HC)H - (25)- - H04 - Hg?! Ali§§§ ..._-E—Il HI 8 '14 HI 9 E 2002. 9 5. 111017I§7=Il . ézéfl 5359mm {494 $71] MhmIOkg 01134. Eififl-‘fl % 94. WM}? K... 133331711?- Bh E— 2% 10N/m,2N/m/s i ' ,2 '—10- 10 —12 2 1 —1 0.2 —0.2 -C=(10 0 2' 0) 5—01 gag-Egg Mé‘fiéfl gag afiflas— 3%} 7] aflfiw—t— EEEEEEM 7H—E‘FE agfifiifl L 94 2r a 52—:— 1§ as: drum fli-E— 09.: arm I: 71194 7113-5 73 flag— alifl—u}. o1 711%. gym—a caiaqfimgq 741% gfla: 31—: 33% 2E- ?fi'fifl: 0mm 29.11}. 3451135339.? E .(w)=0.2w§ 239mg, EFT-1"" 2% 4. 2374153 13-39%? E-filfli Fig. 4. Singular value plot of target loop filter. Journal; of Control, Automation and Systems Engineen'ng, Vol. 8, No. 9, September, 2002 - 761 1% 4-1—2 Agata sagas? set/IiE-E/‘t REM-E" 513% 761.91%} E—E— *3-fi‘301 fitflflifi§~§ 3a- i’f: Silt}. I '— III-Ill; u- —I— I III I I 1. III I :illll I'll I 1'rrn1h"'t‘r111nl ' I I'IIIII I II-IIII I I IIIIIII I I IIIIII Sit!qu Values (fl) a 73%,:1133 saw Isa—A as oasis“ as as A: at s s a it‘— aa eta atomtaaa G a was out SirIgIII-Ir .VIIIIII-os (if) not Stad/s oat—s. as Baa—as also JEEP-WW as 0 some a: s a:— a-s a :1“— art. IVEéEET—t ' aaot Asa was 2a 7a sass out. as at, 01] H Haptic interface7} local control siteot] $171] ‘31-‘34 remote task siteOtI/‘I sea a Asa-a- a-a-a-IUI azta aaaa—s as film}. remote task site 01] 3% i131} % 7—31 3] ifislave robot)~% Haptic interface—‘1] $1 it 7‘3 E01] [Etiq- XVII-X1101 '3 “taut end-efiectot] fiat-3." at F/T sensor—‘94 o] Kata-:— EIEHLKTeedbackfiJEI. a a—sotxta— so asst alto alas seat-as- as as 2. amt asset $1%-31% a Asa-a- some sax] a a :aa-a— aaaa amm Haptic maes— as as IEIIOIIE amt—a so Hflptic AIAIAI asset as total aaatart. salsa. LQG/LTR atom at ass—Iaaaa— was $211017]? Pentium 300MHz E- AI—g—fikfi :Iloiliz‘flfifl a; d g..- gyjflfg $9,15- 6 71194 FITQEEI £16317}:— 37C196CA' ENE —I—I— I — I —- l — i II-l- l l---|---|-—--------|--—-l—l— I — I — I —. . _.. . ._.._.._._._ ; _ ¢ __.. . g... . _..,....._.,_._._ . _ . _ . _ . _ . —. I —. i FF.-._.,_I Looof Cootro! Sits ! . ! .' ! I Human Operator ! ' I i i I I ' _ — _ _ _ _ _ n ‘ * " _ _ _ _ _ _ _ _ _ — u * fl H h " ' '_._— I Iona-r tooo _ Troosforoooo System I i l I I I I . - I ! I __ , ,r ! I Linear _ I + . —T HEDiG DEViCE d ! _ Contrflfler ; I J Dynamic ' I + II I I' -- I I . ' -| .;:.E::;=E . I 12 . - - 1 I I I I I FIVE FEE! . l I 35:525- | i u ' t I ' t i I i Dynamic 3% 7. £31401] fits-E1 flit] Him-‘94 as; Fig. 7. Block diaglam of contro1 system. E $1017];— A}%—fi}ofl FLfi‘E'HflEJr. Haptic htterfacefl $4 f9 E- as at a“— at}: «EN EL: ATI INDUSTRIAL AUTOMATION at ISA F/T—l6 models *t‘g-fitfll’ set it EtEJrUtIEJri/H so 94 Esta} m, =10kg 01E}. ' ' aaa— “Ii/1t 'Haptic mace—a— sawtzt as sua- at a . " f, a— lsNa-fiaaaaa sot as f, 7t j; on oaata , sass. . _ _ _' no 8—3—— oases not a—aa was, saga: as - a as- 711?].0} 1a uIaIanIfl-a AI—a—st-aatst oasabt a asst: asst 2:-~.I~I.ii"~~—FLQG/LTRXIICI71ol Atafitfl—a'rtttst fiEIfl%-%0]EL 1%} SEN LQG/LTR XIIOME- 314%3tfié-Iqt soa— a-aet sass a it: ao. ' s - . 1% "IE _ . H . -' Ia . II, slams LGGI‘LTH a a1 a2” as m - as as a? ' timafsj 1% 8. i‘t‘tfi-‘fi. Fig. 8. step response. as sea Haptic Interface s- ags/“4W sagas—- EHOIIE 313% :3:- ONE axt'étE-E E'I-E $510M. 1% 9E- AIZIOII Etta- fist—fl asa- UrEtHfl fists 1% 10-3- F/T III/It 33%51 $731 at a 01D}. Haptic mace—s assas- ra ass-- Isa/«tattoo (ma ass—s- aaaat 0 oh. no A W21ETA1UE 762 9 9.5 1 1.5 33 2.5 3 timEICe] 1% 9. Haptic Interface 54 314133.. Fig. 9. Trajectory Haptic Interface. fercetl‘sl) "e as *1- . 1.5 2 2.5 a .tir‘nefia) in 10.Haptich1terface% an 341% E91 nee. 9;. Fig. 10. Force fi'om FIT sensor. MEE- L M 3]] “EH-.99 91%]: 9-3: ini/‘JEUIJEEPE- 31319.} {1‘15} $1 91%E ‘54 eee—a— frE‘E'lcd P99131111. 913% "719% %—‘9~i ante-e - Are-ea LQG/LTR ene- eee teen new 71::— an anti. nae. annexe—see earl—e n ene- an 3i 5’3 grilflfl Haptic interface—E E3}? 111191] E Haptic interfacte E3} 91191 “13331491 Rigaé‘ “alzd‘alfll 19rle "1: 9d S 3 “$9123- %311 73%‘é'liifil. is“ eases—e- liloifil—E OdzfioL-lelololl 9.1.0191 see ‘21 41733199. 9% ~‘fl7—izlER—C4 nears—a— filfli .1 01011 an era eeaene e no A [1] $19991. $71051. nee. “52% an en ee—e— men 6 -' XFF’rE i] lit/1153 Ute—E1 enema.” ztlezlefilelfisi earns—x]. V01. 5. No. 3. April. 1999. [2] Richard J. Adams and Blake Hannaford, “Stable haptic - interaction with virtual environments: ” IEEE Transactions on Robotics and Automation, Vol. 15, No. 3, June, 1999. 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Modi, “Dynamics and control of flexible multibody systems: An application to orbiting platforms,“ IEEE _ International confirence on Systems, Man and Cybernetics, Vol. 3, pp. 2093-2098, March, 1995. I [18] Xu gang and Cao Guangzhong, “On the LQG and LQG/LTR memodology,” Proceedings of the Antononrons Decentralized Systems, 2000. [19] Raj iva Prakash, ‘ “Target feedback loop/loop transfer recovery (TFL/LTR) robust control design procedure,“ Proceedings of the _ 291h Conference on Decision and Control, October, 1990. [20] 5.193911. 39%4‘1‘. “ LQG/LTR X11013- ilil $Efiidd7lfid°il ' an an.” Proceedings ofthe KACC, pp. 1023—1033. Dotober. 1992. Journal of Control, Automation and Systems Engineering, Vol. 8, N0. 9, September, 2002' _ _ 763. 0| are 200w... eneefl fine—fee nee (ea—w). 200223 eem e51 ran—e e34 ewe—ewe; Jar/genre e exam, lean eeinxfle . 199931¥4l£fim Exam-Em gag 64-5}; 200213 E—él'EH Eli flzgflfl % _- weir/w). 1M??? 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