DocumentCode
596369
Title
Stable haptic interaction with admittance type virtual environments based on time-domain passivity approach
Author
Totorkulov, K. ; Jee-Hwan Ryu
Author_Institution
Sch. of Mech. Eng., Korea Univ. of Technol. & Educ., Cheonan, South Korea
fYear
2012
fDate
26-28 Nov. 2012
Firstpage
111
Lastpage
113
Abstract
Time-domain passivity approach (TDPA) is a way of stable haptic interaction and robot control, such that at any given time the passivity of the system is guaranteed. It is formulated in time-domain, which facilitates its integration in control loop. In this paper we discuss application of this approach to the teleoperation system, model of which assumes admittance mode - with input of effort (force) and output of flow (velocity).
Keywords
haptic interfaces; telerobotics; time-domain analysis; TDPA; admittance type virtual environments; control loop; robot control; stable haptic interaction; teleoperation system; time-domain passivity approach; Admittance; Force; Haptic interfaces; Humans; Impedance; Robots; Time domain analysis; admittance; haptics; passivity; teleoperation;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location
Daejeon
Print_ISBN
978-1-4673-3111-1
Electronic_ISBN
978-1-4673-3110-4
Type
conf
DOI
10.1109/URAI.2012.6462946
Filename
6462946
Link To Document