Title :
Time domain passivity control for 6 degrees of freedom haptic displays
Author :
Preusche, Carsten ; Hirzinger, Gerd ; Ryu, Jee-Hwan ; Hannaford, Blake
Author_Institution :
Inst. of Robotics & Mechatronics, German Aerosp. Center (DLR), Wessling, Germany
Abstract :
In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical information coded in the output signals of the system. Experiments show the validity of this concept.
Keywords :
controllers; damping; geometric codes; haptic interfaces; intelligent robots; time-domain analysis; 6 degrees of freedom haptic displays; adaptive damping; controller; geometrical information; haptic interaction; multiDOF application; output signals; performance; time domain passivity control; transparency; Aerospace control; Damping; Displays; Haptic interfaces; Humans; Mechatronics; Orbital robotics; Robots; Surgery; Virtual reality;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249318
