HapticV1, Main, Exploration, bibRecord, 006B40

Sampled- and continuous-time passivity and stability of virtual environments

Identifieur interne : 006B40 ( Main/Exploration ); précédent : 006B39; suivant : 006B41

Sampled- and continuous-time passivity and stability of virtual environments

Auteurs : Jee-Hwan Ryu [Corée du Sud] ; YOON SANG KIM [Corée du Sud] ; Blake Hannaford [États-Unis]

Source :

IEEE transactions on robotics

RBID : Pascal:04-0537823

Descripteurs français

Pascal (Inist)
- Système échantillonné, Passivité, Identification système, Observateur, Temps continu, Réalité virtuelle, Pilotage ordinateur, Interface utilisateur, Méthode domaine temps.
Wicri :
- topic : Observateur, Réalité virtuelle.

English descriptors

KwdEn :
- Computer control, Continuous time, Observer, Passivity, Sampled system, System identification, Time domain method, User interface, Virtual reality.

Abstract

We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN.m) virtual environment, and stable contact is demonstrated.

Affiliations:

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000F35
to stream PascalFrancis, to step Curation: 000574
to stream PascalFrancis, to step Checkpoint: 000C27
to stream Main, to step Merge: 006F49
to stream Main, to step Curation: 006B40

Le document en format XML

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<term>System identification</term>
<term>Time domain method</term>
<term>User interface</term>
<term>Virtual reality</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Système échantillonné</term>
<term>Passivité</term>
<term>Identification système</term>
<term>Observateur</term>
<term>Temps continu</term>
<term>Réalité virtuelle</term>
<term>Pilotage ordinateur</term>
<term>Interface utilisateur</term>
<term>Méthode domaine temps</term>
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<front><div type="abstract" xml:lang="en">We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN.m) virtual environment, and stable contact is demonstrated.</div>
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<name sortKey="Yoon Sang Kim" sort="Yoon Sang Kim" uniqKey="Yoon Sang Kim" last="Yoon Sang Kim">YOON SANG KIM</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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Sampled- and continuous-time passivity and stability of virtual environments

Sampled- and continuous-time passivity and stability of virtual environments

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri