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[138] Citation: B. Hannaford, J.H Ryu,
'Time Domain Passivity Control of Haptic Interfaces,'
Proc. IEEE Intl. Conference on Robotics and Automation, pp. 1863-1869, Seoul KOREA, May 2001.
Abstract
A patent pending, energy based, method is presented for
controlling a haptic interface system to ensure stable
contact under a wide variety of operating conditions.
System stability is analyzed in terms of the time - domain
definition of passivity. We define a "Passivity Observer"
(PO) which measures energy flow in and out of one or
more subsystems in real-time software. Active behavior
is indicated by a negative value of the PO at any time.
We also define the "Passivity Controller" (PC), an
adaptive dissipative element which, at each time sample,
absorbs exactly the net energy output (if any) measured by
the PO. The method is tested with simulation and
implementation in the "Excalibur" haptic interface system.
Totally stable operation was achieved under conditions
such as stiffness greater than 100 N/mm or time delays of 15ms. The
PO/PC method requires very little additional computation
and does not require a dynamical model to be identified.
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Updated: Tue Jul 15 23:54:51 2008
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