Control of Haptic Systems

Abstract

Control engineering is an important part for making the system more precise and provide the possibility for the system to reach the desired parameters. This chapter reviews some aspects of the control in haptic systems, including advanced forms of technical descriptions, system stability criteria and measures as well as the design of different control laws in a haptic system. A focus is set on the control of bilateral teleoperation systems including the derivation of control designs that guarantee stability as well as haptic transparency and the handling of time delay in the control loop. The chapter also includes an example for the consideration of thermal properties and non-ideal mechanics in the control of a linear stage made from an EC motor and a ball screw as well as an perception-orientated approach to haptic transparency intended to lower the technical requirements on the control and component design.