Modeling and impedance control of a 6-DOF haptic teleoperation system

A new dynamic model and impedance control algorithm of a haptic feedback device for robotic teleoperation is analyzed in this paper. User forces applied to the haptic device through human hand movements are modeled as disturbances to the control system. Detailed analysis for modeling haptic device and human hand is provided and then a self-tuning Fuzzy PID control scheme is proposed to improve system transparency by achieving good force tracking performances. This control is developed to tune PID parameters based on the environment-slave contact force and the human-haptic device contact force in real-time. Experiment results show good force tracking comparison for the 6-DOF haptic teleoperation system.