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[159] Citation: B. Hannaford, J.H. Ryu, D.S. Kwon, Y.S. Kim, J.B. Song,
'Testing Time Domain Passivity Control of Haptic Enabled Systems ,'
In "Experimental Robotics 2002: Proceedings of the International Symposium on Experimental Robotics 2002 (ISER-02)", B. Siciliano and P. Dario, Ed., Springer Verlag, July 9-12, 2002.
Abstract
Much recent work has studied the means of achieving stable yet
high performance control of haptic interfaces. Such interfaces
provide compelling force feedback in virtual reality simulations for
medical training, advanced computer aided design (CAD), entertainment,
and other applications. This paper reports experimental testing of a
new method of stable haptic interface control, the Passivity Observer
(PO)
and Passivity Controller (PC). Experimental results from three different
laboratories confirm basic operation of the PO/PC. The PO/PC method is
applied to high stiffness haptic interaction, to a 2-degree-of-freedom (DOF)
system with coupled kinematics and dynamics, and to a bi-lateral telemanipulation
system controlling metal-to-metal contact.
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Updated: Tue Aug 19 09:16:09 2008
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