제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Passivity Control of a Passive Haptic Device based on Passive FME Analysis

  • Cho, Chang-Hyun (Department of Mechanical Engineering, Korea University, Intelligent Robotics Research Center, Korea Institute of Science and Technology (KIST)) ;
  • Kim, Beom-Seop (Intelligent Robotics Research Center, Korea Institute of Science and Technology (KIST), Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Kim, Mun-Sang (Intelligent Robotics Research Center, Korea Institute of Science and Technology (KIST)) ;
  • Song, Jae-Bok (Department of Mechanical Engineering, Korea University) ;
  • Park, Mi-Gnon (Department of Electrical and Electronic Engineering, Yonsei University)
  • Published : 2003.10.22
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a control method is presented to improve performance of haptic display on a passive haptic device equipped with passive actuators. In displaying a virtual wall with the passive haptic device, an unstable behavior occurs with excessive actions of brakes due to the time delay mainly arising from the update rate of the virtual environment and force approximation originated from the characteristics of the passive actuators. The previous T.D.P.C. (Time Domain Passivity Control) method was not suitable for the passive haptic device, since a programmable damper used in the previously introduced T.D.P.C. method easily leads to undesirable behaviors. A new passivity control method is evaluated with considering characteristics of the passive device. First, we propose a control method which is designed under the analysis of the passive FME (Force Manipulability Ellipsoid). And then a passivity control scheme is applied to the proposed control method. Various experiments have been conducted to verify the proposed method with a 2-link mechanism.

Keywords