A simulation/experimental study of the noisy behavior of the time-domain passivity controller
Identifieur interne : 006971 ( Main/Merge ); précédent : 006970; suivant : 006972A simulation/experimental study of the noisy behavior of the time-domain passivity controller
Auteurs : Jee-Hwan Ryu [Corée du Sud] ; Blake Hannaford [États-Unis] ; Dong-Soo Kwon [Corée du Sud] ; Jong-Hwan Kim [Corée du Sud]Source :
- IEEE transactions on robotics
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
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.
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Pascal:06-0138721Le document en format XML
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Energy method</term>
<term>Feasibility</term>
<term>Force control</term>
<term>Modeling</term>
<term>Passivity</term>
<term>Position measurement</term>
<term>Position sensor</term>
<term>Tactile sensitivity</term>
<term>Time domain method</term>
<term>Transducer position</term>
<term>User interface</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Passivité</term>
<term>Commande force</term>
<term>Interface utilisateur</term>
<term>Sensibilité tactile</term>
<term>Capteur position</term>
<term>Mesure position</term>
<term>Position transducteur</term>
<term>Faisabilité</term>
<term>Méthode domaine temps</term>
<term>Modélisation</term>
<term>Méthode énergétique</term>
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<front><div type="abstract" xml:lang="en">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.</div>
</front>
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<name sortKey="Kim, Jong Hwan" sort="Kim, Jong Hwan" uniqKey="Kim J" first="Jong-Hwan" last="Kim">Jong-Hwan Kim</name>
<name sortKey="Kwon, Dong Soo" sort="Kwon, Dong Soo" uniqKey="Kwon D" first="Dong-Soo" last="Kwon">Dong-Soo Kwon</name>
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<country name="États-Unis"><region name="Washington (État)"><name sortKey="Hannaford, Blake" sort="Hannaford, Blake" uniqKey="Hannaford B" first="Blake" last="Hannaford">Blake Hannaford</name>
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