Frequency domain stability observer and active damping control for stable haptic interaction
- Authors
- Ryu, Dongseok; Song, Jae-Bok; Choi, Junho; Kang, Sungchul; Kim, 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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