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Title page for ETD etd-0329102-151711


Type of Document Dissertation
Author Sirithanapipat, Taweedej
Author's Email Address taweedej@hotmail.com
URN etd-0329102-151711
Title Haptic Interface Control Design for Performance and Stability Robustness
Degree PhD
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Prof. Michael Goldfarb Committee Chair
Prof. Alvin M. Strauss Committee Member
Prof. George E. Cook Committee Member
Prof. Kenneth D. Frampton Committee Member
Prof. Nilanjan Sarkar Committee Member
Keywords
  • Haptic control design
  • haptic performance and stability robustness
Date of Defense 2002-03-27
Availability unrestricted
Abstract
A method to enhance the performance and stability of haptic interfaces is addressed. This research approaches the control of haptic interfaces using classical control techniques, addressing both the performance and stability from a frequency domain perspective. Using linear time invariant models for the human and haptic interfaces, a controller is designed to enhance both the performance and stability robustness of the system. By approaching the control design in the frequency domain, stability can be addressed at the gain crossover frequency only and the rest of the frequency space can be used to address performance. The proposed approach is experimentally compared to other approaches on a 3 DOF haptic interface.

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