Some Practical Issues in Time Domain Passivity Control of Haptic Interfaces

Kim, Y.S. and Hannaford, B. (2001) Some Practical Issues in Time Domain Passivity Control of Haptic Interfaces. In: Proceedings IROS 2001.

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In this paper, two major practical issues are studied to improve the performance of a new energy based method of achieving stable, high performance haptic interface control. The first issue is related to resetting the amount of energy accumulated in thePassivity Observer for faster operation. A heuristic method is derived and experimentally tested for the resetting and it is shown to help the PC to operate sooner when the system gets active. The second one was noise in velocity measurements being magnified into audible force signals by the controller. This issue was addressed by theintroduction of a velocity threshold and it is verified that the velocity threshold makes the PC more free from the noise effect at low velocity. Experimental results are presented for the "Excalibur" haptic device.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > CA Robotic Control
Divisions: Department of Electrical Engineering
Depositing User: Nava Aghdasi
Date Deposited: 12 Aug 2015 20:16
Last Modified: 12 Aug 2015 20:16

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