Robustly Stable Haptic Interaction Control using an Energy-Bounding Algorithm

Title
Robustly Stable Haptic Interaction Control using an Energy-Bounding Algorithm
Authors
김종필류제하
Keywords
haptics; passivity; sampled-data system; stability
Issue Date
2010-05
Publisher
The International journal of robotics research
Citation
VOL 29, NO 6, 666-679
Abstract
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.
URI
http://pubs.kist.re.kr/handle/201004/37894
ISSN
0278-3649
Appears in Collections:
KIST Publication > Article
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