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[151] Citation: Abstract
A patent pending, energy based, method is presented for controlling
a haptic interface system to ensure stable contract 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 > 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 Jan 6 13:41:40 2009
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