Abstract
One of the most important issues in haptic interface design is to achieve stable interaction between the haptic display and the virtual environment for any operating conditions and for any virtual environment parameters. Recently, Hannaford and Ryu [10,11,16] proposed an energy based method, whose components are termed the “Passivity Observer” (PO) and “Passivity Controller” (PC). Force and velocity are the key variables which define the nature of haptic contact. If the system has initial stored energy at t = 0 of E(0), we can use the following widely known definition of passivity.
We are pleased to acknowledge research support from Ford Motor Company and the Government of Korea.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
J. E. Colgate, M. C. Stanley, J. M. Brown,“Issues in the Haptic Display of Tool Use,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, Pittsburgh, PA, 1995, pp. 140–145.
C. B. Zilles and J. K. Salisbury,“A Constraint-based God-object Method for Haptic Display,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, Pittsburgh, PA, 1995, pp. 146–151.
N. Hogan,“Controlling Impedance at the Man/Machine,” Proc. IEEE Int. Conf. Robot. Automat., Scottsdale, AZ, 1989, pp. 1626–1631.
R. J. Adams, D. Klowden, B. Hannaford,“Stable Haptic Interaction using the Excalibur Force Display,” Proc. IEEE Int. Conf. Robot. Automat., San Francisco, CA, 2000, pp. 770–775.
R. J. Adams and B. Hannaford,“Stable Haptic Interaction with Virtual Environments,” IEEE Trans. Robot. Automat., vol. 15, no. 3, 1999, pp. 465–474.
K. Hashtrudi-Zaad and S.E. Salcudean,“Analysis and evaluation of stability and performance robustness for teleoperation control architectures,” Proc. IEEE Int. Conf. Robot. Automat., San Francisco, CA, 2000, pp. 3107–3113.
S.E. Salcudean, K. Hashtrudi-Zaad, S. Tafazoli, S.P. DiMaio, and C. Reboulet,“Bilateral matched-impedance teleoperation with application to excavation control,” IEEE Cont. Sys. Mag., vol. 19 no. 5, 1999, pp. 29–37.
B. E. Miller, J. E. Colgate and R. A. Freeman,“Computational Delay and Free Mode Environment Design for Haptic Display,” Proc. ASME Dyn. Syst. Cont. Div., 1999b, pp. 229–236.
B. E. Miller, J. E. Colgate and R. A. Freeman,“Environment Delay in Haptic Systems,” Proc. IEEE Int. Conf. Robot. Automat., San Francisco, CA, April, 2000, pp. 2434–2439.
B. Hannaford, J. H. Ryu,“Time Domain Passivity Control of Haptic Interfaces,” Proc. IEEE Int. Conf. Robot. Automat., pp. 1863–1869, Seoul, Korea, 2001.
B. Hannaford, J. H. Ryu,“Time Domain Passivity Control of Haptic Interfaces,” IEEE Transactions on Robotics and Automation, vol. 18, No. 1, pp. 1–10, February, 2002.
R. J. Adams, M. R. Moreyra, B. Hannaford,“Excalibur, A Three-Axis Force Display,” ASME Winter Annual Meeting Haptics Symposium, Nashville, TN, November, 1999. Testing Passivity Control of Haptic Enabled Systems 557
C. A. Desoer and M. Vidyasagar, Feedback Systems: Input-Output Properties, New York: Academic Press, 1975.
Claasen, T., W. F. G. Mecklenbrauker and J. B. H. Peek,“Frequency Domain Criteria for the Absence of Zero-Input Limit Cycles in Nonlinear Discrete-Time Systems, with Applications to Digital Filters,” IEEE Trans. Circuits and Systems, vol. CAS-22, no. 3, 1975, pp. 232–239.
I. Amidror, S. Usui, “Digital-Low Pass Differentiation for Biological Signal Processing,” IEEE Trans. Biomedical Engineering, vol. 29, 1982, pp. 686–692.
J.H. Ryu, D.S. Kwon, B. Hannaford,“Stable Teleoperation with Time Domain Passivity Control,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 1876–1881, Arlington, VA, May 2002.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hannaford, B., Ryu, JH., Kwon, DS., Kim, Y.S., Song, JB. (2003). Testing Time Domain Passivity Control of Haptic Enabled Systems. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_50
Download citation
DOI: https://doi.org/10.1007/3-540-36268-1_50
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00305-2
Online ISBN: 978-3-540-36268-5
eBook Packages: Springer Book Archive