Time Domain Passivity Control with Reference Energy Behavior

Ryu, Jee-Hwan and Preusche, Carsten and Hannaford, Blake and Hirzinger, Gerd (2005) Time Domain Passivity Control with Reference Energy Behavior. IEEE Trans. on Control Systems Technology, 13 (5). p. 737.

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Official URL: http://brl.ee.washington.edu/BRL_Pubs/Pdfs/Rep179....


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.

Item Type: Article
Subjects: C Surgical Robots > CA Robotic Control
Divisions: Department of Electrical Engineering
Depositing User: Mohammad Haghighipanah
Date Deposited: 30 Jul 2015 17:58
Last Modified: 30 Jul 2015 17:58
URI: http://brl.ee.washington.edu/eprints/id/eprint/219

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