Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays

Preusche, C. and Hirzinger, G. and Ryu, J.H. and Hannaford, B. (2003) Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays. In: IEEE/RSJ International Conference on Intelligent Robots and Systems.

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: B Teleoperation > BA Haptics for Teleoperation
Depositing User: Junjie Yan
Date Deposited: 09 Jul 2015 23:44
Last Modified: 09 Jul 2015 23:44
URI: http://brl.ee.washington.edu/eprints/id/eprint/134

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