Robustly Stable Haptic Interaction Control using an Energy-Bounding Algorithm
- Robustly Stable Haptic Interaction Control using an Energy-Bounding Algorithm
- 김종필; 류제하
- haptics; passivity; sampled-data system; stability
- Issue Date
- The International journal of robotics research
- VOL 29, NO 6, 666-679
- Stability is a challenging issue when controlling haptic interaction
systems because unstable behavior may injure human operators or
deteriorate the realism of the provided cues. Based on the passivity
condition for sampled-data haptic systems, we propose a novel
energy-bounding algorithm to ensure robustly stable haptic interactions.
The proposed algorithm limits the energy generated by a
sample-and-hold operator within the energy consumable by the effective
damping elements in the haptic system. The algorithm also
ensures that the VE and controller are passive. This guarantees robustly
stable haptic interactions, regardless of the sampling frequency
and its variations, but compromises the displayable impedance range
of the VE. Simulations and experiments using a commercial haptic
device are used to demonstrate the effectiveness of the proposed algorithm.
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- KIST Publication > Article
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