Time domain passivity control for 6 degrees of freedom haptic displays
نویسندگان
چکیده
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.
منابع مشابه
Time Domain Passivity Control for Multi-Degree of Freedom Haptic Systems with Time Delay
This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller i...
متن کاملExtending the Z-Width of a Haptic Device Using Acceleration Feedback
This paper proposes a nonlinear controller to extend the Zwidth of a haptic device. A time-domain passivity analysis of the Z-width diagram leads to the new haptic controller, which employs acceleration feedback. The passivity condition for one degree of freedom (1DOF) haptic interaction with a virtual wall via the proposed controller is derived using passivity theory in the frequency domain. T...
متن کاملStable Kinematic Teleoperation of Wheeled Mobile Robots with Slippage using Time-Domain Passivity Control
Wheel slippage creates control challenges for wheeled mobile robots (WMR). This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage by using the time-domain passivity control (TDPC) approach. We show the potential nonpassivity for the environment termination caused by the slippage dynamics. The utilized TDPC approach maintains the passivity of teleop...
متن کاملTesting Time Domain Passivity Control of Haptic Enabled Systems
Much recent work has studied the means of achieving stable yet high performance control of haptic interfaces. Such interfaces provide compelling force feedback in virtual reality simulations for medical training, advanced computer aided design (CAD), entertainment, and other applications. This paper reports experimental testing of a new method of stable haptic interface control, the Passivity O...
متن کاملHaptic Data Reduction in Time-delayed Teleoperation Based on the Time Domain Passivity Approach
We propose a novel combination of haptic data reduction with the control architecture of the time domain passivity approach (TDPA) in teleoperation systems for dealing with time-varying delay. The sampling rate of haptic data is typically 1kHz for stability and transparency reasons. This high packet rate as well as the additional data overhead becomes a critical factor for data transmission in ...
متن کامل