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[183] Citation: J.H. Ryu, B. Hannaford, C. Preusche, G. Hirzinger,
'Time Domain Passivity Control with Reference Energy Behavior,'
Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2932-2937, Las Vegas, 2003.
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 formed to stabilize
the system but also
excite 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 guarantee.
Resetting and active environment display problems also can be solved with
the reference energy
following idea.
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Updated: Tue Jul 15 23:54:51 2008
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