A Transparency-optimized Control for a 6-DOF Parallel-structured Haptic Device

Abstract

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.