Frequency domain stability observer and active damping control for stable haptic interaction

Authors
Ryu, DongseokSong, Jae-BokChoi, JunhoKang, SungchulKim, Munsang
Issue Date
2007
Publisher
IEEE
Citation
IEEE International Conference on Robotics and Automation, pp.105 - 110
Abstract
Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. To resolve this problem, a new observer, working in the frequency domain, is proposed in this research. The observer quantifies the degree of instability of a haptic system, and a proposed controller generates variable damping in proportion to this quantitative instability. Especially, for a double layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully reduced unstable behavior.
ISSN
1050-4729
URI
https://pubs.kist.re.kr/handle/201004/116447
DOI
10.1109/ROBOT.2007.363772
Appears in Collections:
KIST Conference Paper > 2007
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