Luenberger observer-based impedance control of linear servo motor for a desired haptic system

Po Wen Hsueh, Jyun Ci Chen, Wu Sung Yao, Mi Ching Tsai, Wei Cheng Syu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Haptic technique is a tactile feedback skill between humans and machine devices. How to deal with the compliantly controlled haptic interaction is essential. This paper proposes an impedance control design based on Luenberger observer for haptic linear servo motors. With the consideration of practical implementations, the Luenberger observer is substituted for tactile sensors to estimate the external force exerted by humans. The controlled motion looks like a spring-mass-damper system required by the desired haptic system and realized by the proposed impedance control. Simulation and experimental results are given to show that the dynamic behavior of the controlled linear servo motor is analog to a desired spring-mass-damper system.

Original languageEnglish
Title of host publication2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
Pages140-145
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan
Duration: 2013 Dec 22013 Dec 4

Publication series

Name2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

Other

Other2013 CACS International Automatic Control Conference, CACS 2013
CountryTaiwan
CityNantou
Period13-12-0213-12-04

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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