期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 33, 期 4, 页码 948-963出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2017.2676127
关键词
Haptics and haptic interface; input-to-state stability; passivity criterion; physical human-robot interaction
类别
资金
- project Development of core teleoperation technologies for maintaining and repairing tasks in nuclear power plants - Ministry of Trade, Industry and Energy of South Korea
- Industrial Strategic Technology Development Program - Ministry of Trade, Industry and Energy of South Korea [10052967]
- National Research Foundation of Korea - Korean government (MSIP) [NRF-2016R1E1A1A02921594]
- Korea Evaluation Institute of Industrial Technology (KEIT) [10052967] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Passivity has been a major criterion for designing a stable haptic interface due to its numerous advantages. However, passivity-based controllers have suffered from the design conservatism of the passivity criterion, particularly when users want to increase the maximum apparent impedance. Based on the input-to-state stable (ISS) criterion and an analogy between haptic interfaces and systems with hysteresis, this paper proposes a control framework that is less conservative than passivity-based controllers. The proposed ISS approach allows a non-predetermined finite amount of output energy to be extracted from the system. Therefore, the proposed method can increase the maximum apparent impedance compared with passivity-based approaches. The focus of this paper is on how the proposed approach is designed to satisfy the input-to-state stability criterion in real time without prior knowledge of the system. This paper also extends the primary single-port ISS approach to a two-port ISS approach for multiple-degree-of-freedom generalization. The experimental and numerical results demonstrate that the proposed ISS approach is able to stabilize a higher impedance range than the time-domain passivity approach. The experimental results also confirm that the proposed approach provides higher actual apparent impedance to the operator compared with the energy-bounding and force-bounding approaches.
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