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[179] Citation: Jee-Hwan Ryu, Carsten Preusche, Blake Hannaford, Gerd Hirzinger,
'Time Domain Passivity Control with Reference Energy Behavior,'
IEEE Trans. on Control Systems Technology, vol. 13, pp. 737, Sept 2005.
Abstract
A recently proposed method for stabilizing haptic interfaces and
teleoperation systems
was tested with a "PHANToM" commercial haptic device. The "Passivity
Observer" (PO) and
"Passivity Controller" (PC) stabilization method was applied to stabilize
the system but also
excited a high frequency mode in the device.
To solve this problem, we propose a method to use a time-varying desired
energy threshold
instead of fixed zero energy threshold for the PO,
and make the actual energy input follow the time-varying energy threshold.
With the time-varying energy threshold, we make the PC control action smooth
without
sudden impulsive behavior by distributing the dissipation.
The proposed new PO/PC approach is applied to PHANToM with
high stiffness (K = 500N/m), and stable and smooth contact is guaranteed.
Resetting and active environment display problems also can be solved with
the reference energy
following idea.
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Updated: Tue Aug 19 09:16:09 2008
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