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[158] Citation: B. Hannaford, J.H. Ryu, 'Time domain passivity control of haptic interfaces,'
U.S. Patent # 7,027,965, 11-April-2006.
Abstract
Methods are provided for stabilizing a haptic interface of a computer-controlled
one-port virtual-reality system or a two-port teleoperation system comprising a
robot manipulator. "Stabilizing" means to reduce the sense of vibration in a haptic interface. A Passivity Observer is computed to measure the amount of ener
gy
produced at the haptic interface, and a Passivity Controller is calculated to damp or absorb excess energy which causes the sense of vibration. This inventi
on also provides a "filter," i.e. a threshold function which returns zero velocity
if the computed estimated velocity is less than a small predetermined value, which may be applied to estimated velocities determined in impedance-based
methods of this invention so as to remove noise in the velocity estimate. To improve speed of reaction of the systems, this invention also provides methods
for resetting the Passivity Observer to zero when it has been too positive for too long a period of time. Systems implementing these methods are also
provided.
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Updated: Tue Jul 15 23:54:51 2008
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