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[148] Citation: Abstract
In this paper, two major practical issues are studied to improve the
performance of a
new energy based method of achieving stable, high performance haptic interface control.
The first issue is related to resetting the amount of energy accumulated in thePassivity Observer for faster operation. A heuristic method is derived and exper
imentally
tested for the resetting and it is shown to help the PC to operate sooner when the
system gets active. The second one was noise in velocity measurements being magnified
into audible force signals by the controller. This issue was addressed by theintroduction of a velocity threshold and it is verified that the velocity threshol
d
makes the PC more free from the noise effect at low velocity. Experimental results
are presented for the "Excalibur" haptic device.
["I would like a hard copy of this report"]
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Updated: Tue Aug 19 09:16:09 2008
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