Testing Time Domain Passivity Control of Haptic Enabled Systems

Hannaford, B. and Ryu, J.H. and Kwon, D.S. and Kim, Y.S. and Song, J.B. (2002) Testing Time Domain Passivity Control of Haptic Enabled Systems. University of Washington Department of Electrical Engineering Technical Report, UWEETR.

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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.

Item Type: Article
Subjects: D Haptics
Divisions: Department of Electrical Engineering
Depositing User: Margaret Thompson
Date Deposited: 07 Jul 2015 23:32
Last Modified: 07 Jul 2015 23:32
URI: http://brl.ee.washington.edu/eprints/id/eprint/27

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