DocumentCode :
1130549
Title :
A Simulation/Experimental Study of the Noisy Behavior of the Time-Domain Passivity Controller
Author :
Ryu, Jee-Hwan ; Hannaford, Blake ; Kwon, Dong-Soo ; Kim, Jong-Hwan
Author_Institution :
Sch. of Mech. Eng., Korea Univ. of Technol. & Educ., Cheoan-City, South Korea
Volume :
21
Issue :
4
fYear :
2005
Firstpage :
733
Lastpage :
741
Abstract :
A noisy behavior of the time-domain passivity controller during the period of low velocity is analyzed. Main reasons of the noisy behavior are investigated through a simulation with a one-DOF haptic interface model. It is shown that the PO/PC is ineffective in dissipating the produced energy when the sign of the velocity, which is numerically calculated from the measured position, is suddenly changed, and when this velocity is zero. These cases happen during the period of low velocity due to the limited resolution of the position sensor. New methods, ignoring the produced energy from the velocity sign change, and holding the control force while the velocity is zero, are proposed for removing the noisy behavior. The feasibility of the developed methods is proved with both a simulation and a real experiment.
Keywords :
control engineering computing; force control; haptic interfaces; robots; force control; haptic interface model; noisy behavior; passivity observer; position sensor; time-domain passivity controller; velocity sign change; Control theory; Delay effects; Energy measurement; Force control; Haptic interfaces; Humans; Time domain analysis; Velocity control; Virtual environment; Working environment noise; Haptic interface; noisy behavior; passivity controller; passivity observer; time-domain passivity;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2005.847611
Filename :
1492489
Link To Document :
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