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http://dx.doi.org/10.5302/J.ICROS.2006.12.3.277

Stable Haptic Interaction with Reference Energy Following Scheme  

Ryu Jee-Hwan (한국기술교육대학교 기계정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.3, 2006 , pp. 277-283 More about this Journal
Abstract
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 Control1er' (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 timevarying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual energy input follow the timevarying 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 = 5000N/m), and stable and smooth contact is guaranteed. Resetting and active environment display problems also can be solved with the reference energy following idea.
Keywords
haptic interface; reference energy; passivity controller; passivity observer; time-domain passivity;
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