ABSTRACT: Methods for construction of stable control systems for the mechanism of haptic interaction used in haptic man-machine interfaces
are considered. These interfaces reconstruct realistic haptic perception of a virtual object by a man. Two approaches to the
control synthesis for the interaction mechanism are proposed and analyzed. The first one is based on tracking the open-loop
trajectory of motion of the virtual object (body), and the second one is based on tracking the force of interaction with this
object. Unlike known papers, the analysis takes into account the nonlinearity of the control system. The analysis is performed
for two possible interaction regimes: “pushing” and “holding” of the virtual object. Stability conditions that are easily
implemented are obtained.
Journal of Computer and Systems Sciences International 04/2012; 49(4):643-671. · 0.17 Impact Factor