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

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2944

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249318

Filename

1249318