HapticV1, PascalFrancis, Checkpoint, bibRecord, 000C59

Multirate control of haptic interface for stability and high fidelity

Identifieur interne : 000C59 ( PascalFrancis/Checkpoint ); précédent : 000C58; suivant : 000C60

Multirate control of haptic interface for stability and high fidelity

Auteurs : Kyungno Lee [Corée du Sud] ; DOO YONG LEE [Corée du Sud]

Source :

RBID : Pascal:06-0112043

Descripteurs français

Pascal (Inist)
- Système multicadence, Synthèse commande, Commande fréquence, Interface utilisateur, Sensibilité tactile, Fidélité, Haute fréquence, Modélisation.

English descriptors

KwdEn :
- Control synthesis, Fidelity, Frequency control, High frequency, Modeling, Multirate system, Tactile sensitivity, User interface.

Abstract

This paper presents an analytic design of multirate controllers to guarantee stable haptic interaction and high fidelity. When the reflective force is computed by using slowly-simulated virtual model, the control frequency of the conventional controller becomes low. This increases the zero-order-hold effect, and makes the system unstable. We propose a multirate control method to reduce the zero-order-hold effect. The multirate controller is implemented by adding a high-frequency controller to the conventional controller. The high-frequency controller is designed to compensate the energy generated by the conventional controller. The stability analysis of the multirate haptic control system shows that the stiffness of the virtual model can be increased while maintaining the stability. A nonlinear virtual coupling is designed using this multirate control scheme. The multirate controller is evaluated by mathematical analysis and experiments.

Affiliations:

Corée du Sud

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Pascal:06-0112043

Le document en format XML

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<author><name sortKey="Lee, Kyungno" sort="Lee, Kyungno" uniqKey="Lee K" first="Kyungno" last="Lee">Kyungno Lee</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering Korea Advanced Institute of Science and Technology</s1>
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<country>Corée du Sud</country>
<wicri:noRegion>Department of Mechanical Engineering Korea Advanced Institute of Science and Technology</wicri:noRegion>
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<author><name sortKey="Doo Yong Lee" sort="Doo Yong Lee" uniqKey="Doo Yong Lee" last="Doo Yong Lee">DOO YONG LEE</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering Korea Advanced Institute of Science and Technology</s1>
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<term>Multirate system</term>
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<front><div type="abstract" xml:lang="en">This paper presents an analytic design of multirate controllers to guarantee stable haptic interaction and high fidelity. When the reflective force is computed by using slowly-simulated virtual model, the control frequency of the conventional controller becomes low. This increases the zero-order-hold effect, and makes the system unstable. We propose a multirate control method to reduce the zero-order-hold effect. The multirate controller is implemented by adding a high-frequency controller to the conventional controller. The high-frequency controller is designed to compensate the energy generated by the conventional controller. The stability analysis of the multirate haptic control system shows that the stiffness of the virtual model can be increased while maintaining the stability. A nonlinear virtual coupling is designed using this multirate control scheme. The multirate controller is evaluated by mathematical analysis and experiments.</div>
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Multirate control of haptic interface for stability and high fidelity

Multirate control of haptic interface for stability and high fidelity

Source :

Descripteurs français

English descriptors

Abstract

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

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri