Absolute Stability of 3-DOF Bilateral Haptic Systems
نویسندگان
چکیده
منابع مشابه
Absolute Stability of 3-DOF Bilateral Haptic Systems
A 3-degrees-of-freedom (DOF) bilateral haptic system can be modeled as an 2-port network where each port connects to a termination defined by 3 inputs and 3 outputs. The stability analysis of such systems is not trivial due to dynamic coupling across the different DOFs of the robots, the human operators, and the physical/virtual environments, and unknown dynamics of the human operators and the ...
متن کامل3-dof Haptic Rendering
1. Introduction Haptic rendering enables a user to touch, feel, and manipulate virtual objects through a haptic interface (see Figure 1). The field has shown a significant expansion during the last decade. Since the publication of earlier review papers (Salisbury and Srinivasan, 1997; Srinivasan and Basdogan, 1997), new rendering techniques and several new applications have emerged (see the mor...
متن کامل3-DOF Trilateral Teleoperation Using a Pair of 1-DOF and 2-DOF Haptic Devices: Stability Analysis
Humans are usually better than autonomous robots in operating in complex environments. In bilateral teleoperation, to take full advantage of the human’s intelligence, experience, and sensory inputs for performing a dexterous task, a possibility is to use the two hands of the user to manipulate two master haptic devices in order to control a slave robot with multiple degrees-of-freedom (DOF); th...
متن کاملPassivity and Absolute Stability Analysesof Trilateral Haptic Collaborative Systems
Trilateral haptic systems can be modeled as threeport networks. Analysis of coupled stability of a three-port network can be accomplished in either the passivity or the absolute stability frameworks assuming all three ports are connected to passive but otherwise unknown terminations. This paper first introduces our recent results in terms of extending Raisbecks passivity criterion and Llewellyn...
متن کاملHaptic rendering for 6/3-DOF haptic devices
Application of haptic devices expanded to fields like virtual manufacturing, virtual assembly or medical simulations. Advances in development of haptic devices have resulted in a wide distribution of assymetric 6/3-DOF haptic devices. However, current haptic rendering algorithms work correctly only for symmetric devices. This thesis analyzes 3-DOF and 6-DOF haptic rendering algorithms and propo...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2013
ISSN: 1474-6670
DOI: 10.3182/20130902-3-cn-3020.00068