DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Preusche, C | ko |
dc.contributor.author | Hannaford, B | ko |
dc.contributor.author | Hirzinger, G | ko |
dc.date.accessioned | 2019-08-16T06:20:09Z | - |
dc.date.available | 2019-08-16T06:20:09Z | - |
dc.date.created | 2019-08-16 | - |
dc.date.created | 2019-08-16 | - |
dc.date.created | 2019-08-16 | - |
dc.date.issued | 2005-09 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, v.13, no.5, pp.737 - 742 | - |
dc.identifier.issn | 1063-6536 | - |
dc.identifier.uri | http://hdl.handle.net/10203/264224 | - |
dc.description.abstract | A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a PHANTOM commercial haptic device. The passivity observer (PO) and passivity controller (PC) stabilization method was applied to stabilize the system but also excited a high-frequency mode in the device. To solve this problem, we propose a method to use a time-varying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual energy input follow the time-varying energy threshold. With the time-varying energy threshold, we make the PC control action smooth without sudden impulsive behavior by distributing the dissipation. The proposed new PO/ PC approach is applied to PHANTOM with high stiffness (K = 5000 N/m), and stable and smooth contact is guaranteed. Resetting and active environment display problems also can be solved with the reference energy following idea. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Time domain passivity control with reference energy following | - |
dc.type | Article | - |
dc.identifier.wosid | 000231543800005 | - |
dc.identifier.scopusid | 2-s2.0-26244442831 | - |
dc.type.rims | ART | - |
dc.citation.volume | 13 | - |
dc.citation.issue | 5 | - |
dc.citation.beginningpage | 737 | - |
dc.citation.endingpage | 742 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | - |
dc.identifier.doi | 10.1109/TCST.2005.847336 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.nonIdAuthor | Preusche, C | - |
dc.contributor.nonIdAuthor | Hannaford, B | - |
dc.contributor.nonIdAuthor | Hirzinger, G | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | haptic interface | - |
dc.subject.keywordAuthor | passivity controller (PC) | - |
dc.subject.keywordAuthor | passivity observer (PO) | - |
dc.subject.keywordAuthor | reference energy | - |
dc.subject.keywordAuthor | time-domain passivity | - |
dc.subject.keywordPlus | STABILITY | - |
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