Transactions on Control, Automation and Systems Engineering

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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A Heuristic Rule for the Performance Improvement in Time Domain Passivity Control of Haptic Interfaces

  • Kim, Yoon-Sang (Department of Electrical Engineering, University of Washington) ;
  • Blake Hannaford (Department of Electrical Engineering, University of Washington)
  • 발행 : 2002.09.01
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초록

A practical issue is studied to improve the performance of a new energy based method of achieving stable, high performance haptic interface control. The issue is related to resetting the amount of energy accumulated in the Passivity 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. Experimental results are presented for the “Excalibur” haptic device.

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참고문헌

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