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
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D O I：
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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.
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页码：2944 / 2949
页数：6
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