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Enhancement of a control approach to display high stiffness in virtual environments

Rothammer, Michael (2020) Enhancement of a control approach to display high stiffness in virtual environments. DLR-Interner Bericht. DLR-IB-RM-OP-2020-85. Bachelor's. Technische Universität München. 69 S.

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Haptic feedback is a powerful tool to display virtual environments in a detailed and immersive way. However, stably realizing virtual objects with high stiffnesses remains a difficult task, mainly due to time discretization. The Successive Force Augmentation approach is based on a concept of progressively changing the displayed force in order to achieve a desired stiffness. Primarily based on a low stiffness, the force is successively adapted during the interaction until the desired stiffness is reached. This thesis covers the enhancement of the Successive Force Augmentation approach using alternative methods to update the displayed force to reduce response time, a passivity controller to ensure stability as well as a filter to avoid discontinuities in the displayed force. Furthermore, the enhanced approach is then extended to three translational dimensions. For validation, multiple experiments are conducted to compare different implementations with each other and the relevant haptic control approaches Time-domain Passivity Approach and Force Bounding Approach.

Item URL in elib:https://elib.dlr.de/135530/
Document Type:Monograph (DLR-Interner Bericht, Bachelor's)
Title:Enhancement of a control approach to display high stiffness in virtual environments
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:13 March 2020
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:69
Keywords:passivity control, high stiffness, haptic feedback
Institution:Technische Universität München
Department:Lehrstuhl für Regelungstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Telerobotics (old), R - OOS: Virtual Reality [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Hulin, Thomas
Deposited On:10 Nov 2020 10:10
Last Modified:15 May 2023 08:27

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