Energy-based control of a passive haptic device
Identifieur interne : 007051 ( Main/Merge ); précédent : 007050; suivant : 007052Energy-based control of a passive haptic device
Auteurs : Changhyun Cho [Corée du Sud] ; Jae-Bok Song [Corée du Sud] ; Munsang Kim [Corée du Sud] ; Chang-Soon Hwang [Corée du Sud]Source :
Descripteurs français
- Pascal (Inist)
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- topic : Réalité virtuelle.
English descriptors
- KwdEn :
Abstract
In this paper, we propose an energy-based control method of a passive haptic device equipped with electric brakes. Unstable behavior is observed in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment. From the passive FME (Force Manipulability Ellipsoid) analysis, a so-called direct force control method is proposed in this paper. Its gain is computed by force analysis at the end-effector of a passive haptic device so that the component of a resultant force at the end-effector causing a pullback motion becomes zero. However, this direct force control scheme requires precise measurement of the hand force input by a human operator. We also propose the indirect force control scheme in which the gain in the direct force control scheme is computed using the notion of passivity without resorting to the high precision force sensor. For the experiments a 2-link passive haptic system was developed in this research. Various experiments have been conducted to investigate the validity of both direct and indirect force control schemes proposed In this paper. It is shown that both schemes produce satisfactory performance in the force display for the wall-following task on the virtual wall.
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University of Korea</s1><s2>Seoul</s2><s3>KOR</s3><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Kim, Munsang" sort="Kim, Munsang" uniqKey="Kim M" first="Munsang" last="Kim">Munsang Kim</name><affiliation wicri:level="3"><inist:fA14 i1="03"><s1>Intelligent Robotics Res. Center KIST</s1><s2>Seoul</s2><s3>KOR</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Hwang, Chang Soon" sort="Hwang, Chang Soon" uniqKey="Hwang C" first="Chang-Soon" last="Hwang">Chang-Soon Hwang</name><affiliation wicri:level="3"><inist:fA14 i1="03"><s1>Intelligent Robotics Res. Center KIST</s1><s2>Seoul</s2><s3>KOR</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">06-0269744</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 06-0269744 INIST</idno><idno type="RBID">Pascal:06-0269744</idno><idno type="wicri:Area/PascalFrancis/Corpus">000D51</idno><idno type="wicri:Area/PascalFrancis/Curation">000755</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000D29</idno><idno type="wicri:Area/Main/Merge">007051</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Energy-based control of a passive haptic device</title><author><name sortKey="Cho, Changhyun" sort="Cho, Changhyun" uniqKey="Cho C" first="Changhyun" last="Cho">Changhyun Cho</name><affiliation wicri:level="3"><inist:fA14 i1="01"><s1>Dept. of Mechanical Eng., Korea Univ. Intelligent Robotics Res. Center, KIST</s1><s2>Seoul</s2><s3>KOR</s3><sZ>1 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Song, Jae Bok" sort="Song, Jae Bok" uniqKey="Song J" first="Jae-Bok" last="Song">Jae-Bok Song</name><affiliation wicri:level="3"><inist:fA14 i1="02"><s1>Dept. of Mechanical Eng. University of Korea</s1><s2>Seoul</s2><s3>KOR</s3><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Kim, Munsang" sort="Kim, Munsang" uniqKey="Kim M" first="Munsang" last="Kim">Munsang Kim</name><affiliation wicri:level="3"><inist:fA14 i1="03"><s1>Intelligent Robotics Res. Center KIST</s1><s2>Seoul</s2><s3>KOR</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Hwang, Chang Soon" sort="Hwang, Chang Soon" uniqKey="Hwang C" first="Chang-Soon" last="Hwang">Chang-Soon Hwang</name><affiliation wicri:level="3"><inist:fA14 i1="03"><s1>Intelligent Robotics Res. Center KIST</s1><s2>Seoul</s2><s3>KOR</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Brake</term><term>Delay system</term><term>Delay time</term><term>Delayed time</term><term>Electric device</term><term>Ellipsoid</term><term>Energy method</term><term>Force control</term><term>Force measurement</term><term>Force transducer</term><term>Gripper</term><term>Hand</term><term>Human operator</term><term>Passive system</term><term>Passivity</term><term>Tactile sensitivity</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Système passif</term><term>Système à retard</term><term>Commande force</term><term>Passivité</term><term>Sensibilité tactile</term><term>Appareillage électrique</term><term>Frein</term><term>Temps retard</term><term>Temps différé</term><term>Réalité virtuelle</term><term>Préhenseur</term><term>Mesure force</term><term>Main</term><term>Opérateur humain</term><term>Méthode énergétique</term><term>Ellipsoïde</term><term>Capteur force</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper, we propose an energy-based control method of a passive haptic device equipped with electric brakes. Unstable behavior is observed in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment. From the passive FME (Force Manipulability Ellipsoid) analysis, a so-called direct force control method is proposed in this paper. Its gain is computed by force analysis at the end-effector of a passive haptic device so that the component of a resultant force at the end-effector causing a pullback motion becomes zero. However, this direct force control scheme requires precise measurement of the hand force input by a human operator. We also propose the indirect force control scheme in which the gain in the direct force control scheme is computed using the notion of passivity without resorting to the high precision force sensor. For the experiments a 2-link passive haptic system was developed in this research. Various experiments have been conducted to investigate the validity of both direct and indirect force control schemes proposed In this paper. It is shown that both schemes produce satisfactory performance in the force display for the wall-following task on the virtual wall.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country><settlement><li>Séoul</li></settlement></list><tree><country name="Corée du Sud"><noRegion><name sortKey="Cho, Changhyun" sort="Cho, Changhyun" uniqKey="Cho C" first="Changhyun" last="Cho">Changhyun Cho</name></noRegion><name sortKey="Hwang, Chang Soon" sort="Hwang, Chang Soon" uniqKey="Hwang C" first="Chang-Soon" last="Hwang">Chang-Soon Hwang</name><name sortKey="Kim, Munsang" sort="Kim, Munsang" uniqKey="Kim M" first="Munsang" last="Kim">Munsang Kim</name><name sortKey="Song, Jae Bok" sort="Song, Jae Bok" uniqKey="Song J" first="Jae-Bok" last="Song">Jae-Bok Song</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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