Time domain passivity control for 6 degrees of freedom haptic displays

被引：0
|
作者：
Preusche, C [1 ]
Hirzinger, G [1 ]
Ryu, JH [1 ]
Hannaford, B [1 ]
机构：
[1] Geman Aerosp Ctr, Inst Robot & Mechatron, D-82234 Wessling, Germany
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical information coded in the output signals of the system. Experiments show the validity of this concept.
引用
下载
收藏
页码：2944 / 2949
页数：6
相关论文
共 50 条
  • [1] Time domain passivity control of haptic interfaces
    Hannaford, B
    Ryu, JH
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 1863 - 1869
  • [2] Time Domain Passivity Control for Multi-Degree of Freedom Haptic Devices with Time Delay
    Hertkorn, Katharina
    Hulin, Thomas
    Kremer, Philipp
    Preusche, Carsten
    Hirzinger, Gerd
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 1313 - 1319
  • [3] Time-domain passivity control of haptic interfaces
    Hannaford, B
    Ryu, JH
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2002, 18 (01): : 1 - 10
  • [4] Testing time domain passivity control of haptic enabled systems
    Hannaford, B
    Ryu, JH
    Kwon, DS
    Kim, YS
    Song, JB
    EXPERIMENTAL ROBOTICS VIII, 2003, 5 : 550 - 559
  • [5] A Power Based Time Domain Passivity Control for Haptic Interfaces
    Ye, Yongqiang
    Pan, Ya-Jun
    Gupta, Yash
    PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 7521 - 7526
  • [6] A Power-Based Time Domain Passivity Control for Haptic Interfaces
    Ye, Yongqiang
    Pan, Ya-Jun
    Gupta, Yash
    Ware, Julian
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2011, 19 (04) : 874 - 883
  • [7] Adaptive Energy Reference Time Domain Passivity Control of Haptic Interfaces
    Rad, Nafise Faridi
    Nagamune, Ryozo
    IEEE TRANSACTIONS ON HAPTICS, 2024, 17 (03) : 360 - 371
  • [8] Some practical issues in time domain passivity control of haptic interfaces
    Kim, YS
    Hannaford, B
    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM, 2001, : 1744 - 1750
  • [9] Time-domain passivity control of haptic interfaces with tunable damping hardware
    Gosline, Andrew H. C.
    Hayward, Vincent
    WORLD HAPTICS 2007: SECOND JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS, 2007, : 164 - +
  • [10] Transparency-oriented passivity control design for haptic-enabled teleoperation systems with multiple degrees of freedom
    Bianchini, Gianni
    Bimbo, Joao
    Pacchierotti, Claudio
    Prattichizzo, Domenico
    Moreno, Olmo A.
    2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2018, : 2011 - 2016
12345