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[184] 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", pp. 550-559, Springer Tracts in Advanced Robotics Series, 2003.
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 Jan 6 13:41:40 2009
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