Stability Guaranteed Control: Time Domain Passivity Approach

Ryu, Jee-Hwan; Kwon, Dong‐Soo; Hannaford, Blake

doi:10.1109/tcst.2004.833648

Cited by 94 publications

(58 citation statements)

References 38 publications

(35 reference statements)

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“…Then, an analysis of a high-velocity collision with a real rigid wall is done. The strength of impulse-based control methods, in respect to methods that need force measurements such as those derived from [4], is shown.…”

Section: Impulse-based Controlmentioning

confidence: 99%

“…Force measurements, on the other hand should be treated with the necessary amount of suspicion. Control methods as [4] heavily depending on these force measurements, will only bring limited satisfaction in this case.…”

Section: Interaction With a Real Wall: Basic Experimentsmentioning

confidence: 99%

“…Then, the supply was halted and the clutch engaged, generating the impulse. In the second case, a similar impulse is approximately realized by impulsive forces, according to (5), from the Force Generator 4 . Figure (3) shows the resulting velocity patterns of both methods.…”

Section: Basic Experimentsmentioning

confidence: 99%

“…[3] introduced a virtual coupling method, which is based on a frequency-domain analysis of the system's passivity. More recently [4] presented a time-domain passivity based control method.…”

Section: Introductionmentioning

confidence: 99%

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Rendering a Rigid Virtual World through an Impulsive Haptic Interface

Poorten

Yokokohji

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper deals with the haptic rendering of collisions between a human operator and rigid objects in a virtual environment. The focus being on high-velocity impacts on a rigid wall. After discussing the importance of velocity measurements in contrast to force measurements, a new haptic device is introduced. The new device is capable of applying directly an 'impulse' to the operator, similar to collisions occurring in the real world. Based on a Poisson-model of the rigid virtual object, the necessary change of momentum of the operator's hand is being estimated online. A momentum wheel, under velocitycontrol, is engaged through an electromagnetic toothed clutch, at the estimated instant of impact. The resulting immediate change in momentum is thought to be essential for giving interactions with rigid virtual objects a realistic feel. Rather than generating so-called 'impulsive forces' with big motors, this approach relies only on small motors and is thus intrinsically safer. Experiments are performed on a one-degree of freedom setup. Conclusions are drawn and future directions of this research are sketched.

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Section: Impulse-based Controlmentioning

confidence: 99%

Section: Interaction With a Real Wall: Basic Experimentsmentioning

confidence: 99%

Section: Basic Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Rendering a Rigid Virtual World through an Impulsive Haptic Interface

Poorten

Yokokohji

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…However those internal states can be stable as long as the slave controller (in this paper, position tracking controller) is designed to be stable. There could be numerous control methods to make a single manipulator stable, and the generalized time domain passivity approach [23] can also be applied.…”

Section: Reference Energy Following Schemementioning

confidence: 99%

Stable and high performance teleoperation with time domain passivity control: reference energy following scheme

Ryu

Kim²

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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Abstract-Recently proposed stable teleoperation control scheme, based on time domain passivity, is modified to remove several conservatisms. During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on the fact that the time domain passivity controller does not include the external energy dissipation elements at the slave manipulator. The measured interaction force between slave and environment allow the time domain passivity observer to include the amount of energy dissipation of the slave manipulator to the monitored energy. With the modified passivity observer, reference energy following idea [24] is applied to satisfy the passivity condition. The feasibility of the developed methods is proved with experiments. Improved performance is obtained in unconstrained motion and contacting with a soft environment. I. INTRODUCTIONThe goal of teleoperation system control is to achieve transparency while maintaining stability (i.e., such that the system does not exhibit vibration or divergent behavior) under any operating conditions and for any environments. In designing the bilateral controller, a classic engineering trade-off between transparency and stability has been an important issue, since transparency must often be reduced in order to guarantee stable operation in the wide range of environment impedances (for example, in terms of stiffness of "free space" and "hard contact"). This has necessitated investigating into methods to increase transparency without introducing instability. Several previous studies have sought out theoretical design methods for control parameters based on linear circuit theory However, the teleoperation systems of our interest are nonlinear and the dynamic properties of a human operator are always involved. These factors make it difficult to analyze teleoperation systems in terms of known parameters and linear control theory. To cope with the non-linearity and uncertain parameters of the teleoperation system, several researchers

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