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[170] Citation: C. Preusche, G. Hirzinger, J.H. Ryu, B. Hannaford,
'Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays,'
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2944-9249, Las Vegas, October 2003.
Abstract
In this paper a modification of the time domain passivity controller is
presented to improve its performance and transparency in case of multi degrees
of freedom (dof) haptic interaction. In multi-dof application the concept needs
to be extended by additional conditions to distribute the adaptive damping
appropriately among the degrees of free-dom. This can be solved by using the
geometrical information coded in the output signals of the system. Experiments
show the validity of this concept.
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Updated: Tue Jul 15 23:54:51 2008
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