期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 8, 期 2, 页码 352-360出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-010-0221-9
关键词
Haptics; passivity; stability; transparency
资金
- MKE(The Ministry of Knowledge Economy), Korea [NIPA-2009-C1090-0902-0008]
- MCST(The Ministry of Culture. Sports and Tourism)
- Korea Creative Content Agency(KOCCA)
- IMSE in the Gwangju Institute of Science and Technology (GIST). Korea
This paper presents a multiple degree-of-freedom (DOE) energy bounding approach (EBA) for enhancing directional transparency while concurrently guaranteeing stability during multi-DOE haptic interactions. It was observed that the passivity condition for multiple ports may lead to oscillatory limit cycle behavior in some coordinate directions even though the total sum of energy flow-in is positive, meaning that the system is passive. The passivity condition, therefore, needs to be applied to each coordinate in order to avoid oscillatory behavior by ensuring that each energy flow-in is always positive. The EBA is applied to guarantee passivity. For multi-DOE haptic interaction, however, the EBA in each coordinate may distort the direction of the rendered force vector since the EBA may reduce the magnitude of the rendered force and torque vectors. To resolve this problem, a simple projection method is subsequently proposed. The validity of the proposed algorithm is then experimentally confirmed, and a comparative study with previous research is presented.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据