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Time Domain Passivity Control for Multi-Degree of Freedom Haptic Systems with Time Delay

Hertkorn, Katharina and Hulin, Thomas and Kremer, Philipp and Preusche, Carsten and Hirzinger, Gerd (2010) Time Domain Passivity Control for Multi-Degree of Freedom Haptic Systems with Time Delay. Proceedings - IEEE International Conference on Robotics and Automation, pp. 1313-1319. ISSN 1050-4729

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Abstract

This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller is generalized such that weighting by the mass matrix of the haptic device is possible. This transformation takes into account the directiondependent inertia of multi-DoF haptic devices. Furthermore, a stability boundary for this damping is introduced for one as well as for several DoF allowing for high energy dissipation. Additionally, it is briefly shown that one single multi-DoF Cartesian passivity controller is advantageous compared to independent single-DoF passivity controllers in each joint of the haptic device. Finally, the generalized Time Domain Passivity Controller is experimentally verified using the DLR light weight robot arm as haptic device

Item URL in elib:https://elib.dlr.de/68764/
Document Type:Article
Title:Time Domain Passivity Control for Multi-Degree of Freedom Haptic Systems with Time Delay
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Hulin, ThomasThomas.Hulin (at) dlr.deUNSPECIFIED
Kremer, PhilippPhilipp.Kremer (at) dlr.deUNSPECIFIED
Preusche, CarstenCarsten.Preusche (at) dlr.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
Date:May 2010
Journal or Publication Title:Proceedings - IEEE International Conference on Robotics and Automation
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1313-1319
ISSN:1050-4729
Status:Published
Keywords:passive control, haptic devices, time delay
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 - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Hulin, Thomas
Deposited On:11 Feb 2011 11:04
Last Modified:27 Feb 2015 16:08

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