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Time domain passivity control with reference energy following

Ryu, Jee-Hwan and Preusche, Carsten and Hannaford, Blake and Hirzinger, Gerd (2005) Time domain passivity control with reference energy following. IEEE Transactions on Control Systems Technology, 13 (5), pp. 737-742. DOI: 10.1109/TCST.2005.847336.

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Abstract

A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a PHANToM commercial haptic device. The passivity observer (PO) and passivity controller (PC) stabilization method was applied to stabilize the system but also excited a high-frequency mode in the device. To solve this problem, we propose a method to use a time-varying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual energy input follow the time-varying energy threshold. With the time-varying energy threshold, we make the PC control action smooth without sudden impulsive behavior by distributing the dissipation. The proposed new PO/PC approach is applied to PHANToM with high stiffness ( = 5000 N/m), and stable and smooth contact is guaranteed. Resetting and active environment display problems also can be solved with the reference energy following idea.

Document Type:Article
Title:Time domain passivity control with reference energy following
Authors:
AuthorsInstitution or Email of Authors
Ryu, Jee-HwanKorea University of Technology and Education
Preusche, CarstenUNSPECIFIED
Hannaford, BlakeUniversity of Washington
Hirzinger, GerdUNSPECIFIED
Date:September 2005
Journal or Publication Title:IEEE Transactions on Control Systems Technology
Volume:13
DOI:10.1109/TCST.2005.847336
Page Range:pp. 737-742
Status:Published
Keywords:teleoperation, control, passivity
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Carsten Preusche
Deposited On:21 Oct 2008
Last Modified:12 Dec 2013 20:33

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