HapticV1, PascalFrancis, Corpus, bibRecord, 000C51

Passivity control of a passive haptic device

Identifieur interne : 000C51 ( PascalFrancis/Corpus ); précédent : 000C50; suivant : 000C52

Passivity control of a passive haptic device

Auteurs : Beom-Seop Kim ; Mignon Park ; Chang-Soon Hwang ; Munsang Kim ; Changhyun Cho

Source :

RBID : Pascal:06-0459692

Descripteurs français

Pascal (Inist)
- Passivité, Système passif, Système à retard, Mise à jour, Dispositif affichage, Commande force, Rétroaction, Sensibilité tactile, Moteur électrique, Frein, Temps retard, Temps différé, Réalité virtuelle, Interface utilisateur, Appareillage électrique, Ajustement modèle, Etude expérimentale.

English descriptors

KwdEn :
- Brake, Delay system, Delay time, Delayed time, Display devices, Electric device, Electric motor, Experimental study, Feedback regulation, Force control, Model matching, Passive system, Passivity, Tactile sensitivity, Updating, User interface, Virtual reality.

Abstract

In this paper, we propose an energy-based stability control of a passive haptic device equipped with passive actuators such as an electric brake. Unstable behavior is observed even in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment. The force approximation, one of the major limitations of the passive haptic device, is explained in the passive FME analysis. The ideal force display of passive haptic device is investigated, and it is shown that the passive haptic system frequently obtains the pullback capability due to the force approximation. The indirect force control scheme is proposed in that the change rate of passivity is controlled to simulate the ideal force display. To avoid the increase of the passivity due to the rate controller, which is not correlative to stability, passivity feedback is established. A experiment result was conducted with a 2-link passive haptic device equipped with two electric brakes. From the experiment, the proposed control method showed satisfactory performance in displaying a plain virtual wall.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Passivity control of a passive haptic device`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings`
A11	`01`	`1`		`@1 KIM (Beom-Seop)`
A11	`02`	`1`		`@1 PARK (Mignon)`
A11	`03`	`1`		`@1 HWANG (Chang-Soon)`
A11	`04`	`1`		`@1 KIM (Munsang)`
A11	`05`	`1`		`@1 CHO (Changhyun)`
A14	`01`			`@1 Dept. of Electrical & Electronic Eng., Yonsei Univ. Intelligent Robotics Res. Center, KIST @2 Seoul @3 KOR @Z 1 aut.`
A14	`02`			`@1 Dept. of Electrical & Electronic Eng., r Yonsei Univ @2 Seoul @3 KOR @Z 2 aut.`
A14	`03`			`@1 Intelligent Robotics Res. Center, KIST @2 Seoul @3 KOR @Z 3 aut. @Z 4 aut. @Z 5 aut.`
A18	`01`	`1`		`@1 Institute of Electrical and Electronics Engineers @3 USA @9 org-cong.`
A18	`02`	`1`		`@1 Robotics Society of Japan @3 JPN @9 org-cong.`
A18	`03`	`1`		`@1 IEEE Robotics and Automation Society @3 USA @9 org-cong.`
A20				`@2 vol 3, 2905-2910`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8463-6`
A30	`01`	`1`	`ENG`	`@1 IEEE/RSJ International Conference on Intelligent Robots and Systems @3 Sendai JPN @4 2004`
A43	`01`			`@1 INIST @2 Y 38917 @5 354000153490964720`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 10 ref.`
A47	`01`	`1`		`@0 06-0459692`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 In this paper, we propose an energy-based stability control of a passive haptic device equipped with passive actuators such as an electric brake. Unstable behavior is observed even in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment. The force approximation, one of the major limitations of the passive haptic device, is explained in the passive FME analysis. The ideal force display of passive haptic device is investigated, and it is shown that the passive haptic system frequently obtains the pullback capability due to the force approximation. The indirect force control scheme is proposed in that the change rate of passivity is controlled to simulate the ideal force display. To avoid the increase of the passivity due to the rate controller, which is not correlative to stability, passivity feedback is established. A experiment result was conducted with a 2-link passive haptic device equipped with two electric brakes. From the experiment, the proposed control method showed satisfactory performance in displaying a plain virtual wall.
C02	`01`	`X`		`@0 001D02B04`
C02	`02`	`X`		`@0 001D12E04`
C02	`03`	`X`		`@0 001D12E06`
C02	`04`	`X`		`@0 001D02D`
C03	`01`	`X`	`FRE`	`@0 Passivité @5 06`
C03	`01`	`X`	`ENG`	`@0 Passivity @5 06`
C03	`01`	`X`	`SPA`	`@0 Pasividad @5 06`
C03	`02`	`X`	`FRE`	`@0 Système passif @5 07`
C03	`02`	`X`	`ENG`	`@0 Passive system @5 07`
C03	`02`	`X`	`SPA`	`@0 Sistema pasivo @5 07`
C03	`03`	`X`	`FRE`	`@0 Système à retard @5 08`
C03	`03`	`X`	`ENG`	`@0 Delay system @5 08`
C03	`03`	`X`	`SPA`	`@0 Sistema con retardo @5 08`
C03	`04`	`X`	`FRE`	`@0 Mise à jour @5 09`
C03	`04`	`X`	`ENG`	`@0 Updating @5 09`
C03	`04`	`X`	`SPA`	`@0 Actualización @5 09`
C03	`05`	`3`	`FRE`	`@0 Dispositif affichage @5 10`
C03	`05`	`3`	`ENG`	`@0 Display devices @5 10`
C03	`06`	`X`	`FRE`	`@0 Commande force @5 11`
C03	`06`	`X`	`ENG`	`@0 Force control @5 11`
C03	`06`	`X`	`SPA`	`@0 Control fuerza @5 11`
C03	`07`	`X`	`FRE`	`@0 Rétroaction @5 12`
C03	`07`	`X`	`ENG`	`@0 Feedback regulation @5 12`
C03	`07`	`X`	`SPA`	`@0 Retroacción @5 12`
C03	`08`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`08`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`08`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`09`	`X`	`FRE`	`@0 Moteur électrique @5 19`
C03	`09`	`X`	`ENG`	`@0 Electric motor @5 19`
C03	`09`	`X`	`SPA`	`@0 Motor eléctrico @5 19`
C03	`10`	`X`	`FRE`	`@0 Frein @5 20`
C03	`10`	`X`	`ENG`	`@0 Brake @5 20`
C03	`10`	`X`	`SPA`	`@0 Freno @5 20`
C03	`11`	`X`	`FRE`	`@0 Temps retard @5 21`
C03	`11`	`X`	`ENG`	`@0 Delay time @5 21`
C03	`11`	`X`	`SPA`	`@0 Tiempo retardo @5 21`
C03	`12`	`X`	`FRE`	`@0 Temps différé @5 22`
C03	`12`	`X`	`ENG`	`@0 Delayed time @5 22`
C03	`12`	`X`	`SPA`	`@0 Tiempo diferido @5 22`
C03	`13`	`X`	`FRE`	`@0 Réalité virtuelle @5 23`
C03	`13`	`X`	`ENG`	`@0 Virtual reality @5 23`
C03	`13`	`X`	`SPA`	`@0 Realidad virtual @5 23`
C03	`14`	`X`	`FRE`	`@0 Interface utilisateur @5 24`
C03	`14`	`X`	`ENG`	`@0 User interface @5 24`
C03	`14`	`X`	`SPA`	`@0 Interfase usuario @5 24`
C03	`15`	`X`	`FRE`	`@0 Appareillage électrique @5 25`
C03	`15`	`X`	`ENG`	`@0 Electric device @5 25`
C03	`15`	`X`	`SPA`	`@0 Aparato eléctrico @5 25`
C03	`16`	`X`	`FRE`	`@0 Ajustement modèle @5 27`
C03	`16`	`X`	`ENG`	`@0 Model matching @5 27`
C03	`16`	`X`	`SPA`	`@0 Ajustamiento modelo @5 27`
C03	`17`	`X`	`FRE`	`@0 Etude expérimentale @5 33`
C03	`17`	`X`	`ENG`	`@0 Experimental study @5 33`
C03	`17`	`X`	`SPA`	`@0 Estudio experimental @5 33`
N21				`@1 303`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0459692 INIST
ET :	Passivity control of a passive haptic device
AU :	KIM (Beom-Seop); PARK (Mignon); HWANG (Chang-Soon); KIM (Munsang); CHO (Changhyun)
AF :	Dept. of Electrical & Electronic Eng., Yonsei Univ. Intelligent Robotics Res. Center, KIST/Seoul/Corée, République de (1 aut.); Dept. of Electrical & Electronic Eng., r Yonsei Univ/Seoul/Corée, République de (2 aut.); Intelligent Robotics Res. Center, KIST/Seoul/Corée, République de (3 aut., 4 aut., 5 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 3, 2905-2910; ISBN 0-7803-8463-6
LA :	Anglais
EA :	In this paper, we propose an energy-based stability control of a passive haptic device equipped with passive actuators such as an electric brake. Unstable behavior is observed even in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment. The force approximation, one of the major limitations of the passive haptic device, is explained in the passive FME analysis. The ideal force display of passive haptic device is investigated, and it is shown that the passive haptic system frequently obtains the pullback capability due to the force approximation. The indirect force control scheme is proposed in that the change rate of passivity is controlled to simulate the ideal force display. To avoid the increase of the passivity due to the rate controller, which is not correlative to stability, passivity feedback is established. A experiment result was conducted with a 2-link passive haptic device equipped with two electric brakes. From the experiment, the proposed control method showed satisfactory performance in displaying a plain virtual wall.
CC :	001D02B04; 001D12E04; 001D12E06; 001D02D
FD :	Passivité; Système passif; Système à retard; Mise à jour; Dispositif affichage; Commande force; Rétroaction; Sensibilité tactile; Moteur électrique; Frein; Temps retard; Temps différé; Réalité virtuelle; Interface utilisateur; Appareillage électrique; Ajustement modèle; Etude expérimentale
ED :	Passivity; Passive system; Delay system; Updating; Display devices; Force control; Feedback regulation; Tactile sensitivity; Electric motor; Brake; Delay time; Delayed time; Virtual reality; User interface; Electric device; Model matching; Experimental study
SD :	Pasividad; Sistema pasivo; Sistema con retardo; Actualización; Control fuerza; Retroacción; Sensibilidad tactil; Motor eléctrico; Freno; Tiempo retardo; Tiempo diferido; Realidad virtual; Interfase usuario; Aparato eléctrico; Ajustamiento modelo; Estudio experimental
LO :	INIST-Y 38917.354000153490964720
ID :	06-0459692

Links to Exploration step

Pascal:06-0459692

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Passivity control of a passive haptic device</title>
<author><name sortKey="Kim, Beom Seop" sort="Kim, Beom Seop" uniqKey="Kim B" first="Beom-Seop" last="Kim">Beom-Seop Kim</name>
<affiliation><inist:fA14 i1="01"><s1>Dept. of Electrical & Electronic Eng., Yonsei Univ. Intelligent Robotics Res. Center, KIST</s1>
<s2>Seoul</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Park, Mignon" sort="Park, Mignon" uniqKey="Park M" first="Mignon" last="Park">Mignon Park</name>
<affiliation><inist:fA14 i1="02"><s1>Dept. of Electrical & Electronic Eng., r Yonsei Univ</s1>
<s2>Seoul</s2>
<s3>KOR</s3>
<sZ>2 aut.</sZ>
</inist:fA14>
</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><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>
<sZ>5 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Kim, Munsang" sort="Kim, Munsang" uniqKey="Kim M" first="Munsang" last="Kim">Munsang Kim</name>
<affiliation><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>
<sZ>5 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Cho, Changhyun" sort="Cho, Changhyun" uniqKey="Cho C" first="Changhyun" last="Cho">Changhyun Cho</name>
<affiliation><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>
<sZ>5 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">06-0459692</idno>
<date when="2004">2004</date>
<idno type="stanalyst">PASCAL 06-0459692 INIST</idno>
<idno type="RBID">Pascal:06-0459692</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000C51</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Passivity control of a passive haptic device</title>
<author><name sortKey="Kim, Beom Seop" sort="Kim, Beom Seop" uniqKey="Kim B" first="Beom-Seop" last="Kim">Beom-Seop Kim</name>
<affiliation><inist:fA14 i1="01"><s1>Dept. of Electrical & Electronic Eng., Yonsei Univ. Intelligent Robotics Res. Center, KIST</s1>
<s2>Seoul</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Park, Mignon" sort="Park, Mignon" uniqKey="Park M" first="Mignon" last="Park">Mignon Park</name>
<affiliation><inist:fA14 i1="02"><s1>Dept. of Electrical & Electronic Eng., r Yonsei Univ</s1>
<s2>Seoul</s2>
<s3>KOR</s3>
<sZ>2 aut.</sZ>
</inist:fA14>
</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><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>
<sZ>5 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Kim, Munsang" sort="Kim, Munsang" uniqKey="Kim M" first="Munsang" last="Kim">Munsang Kim</name>
<affiliation><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>
<sZ>5 aut.</sZ>
</inist:fA14>
</affiliation>
</author>
<author><name sortKey="Cho, Changhyun" sort="Cho, Changhyun" uniqKey="Cho C" first="Changhyun" last="Cho">Changhyun Cho</name>
<affiliation><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>
<sZ>5 aut.</sZ>
</inist:fA14>
</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>Display devices</term>
<term>Electric device</term>
<term>Electric motor</term>
<term>Experimental study</term>
<term>Feedback regulation</term>
<term>Force control</term>
<term>Model matching</term>
<term>Passive system</term>
<term>Passivity</term>
<term>Tactile sensitivity</term>
<term>Updating</term>
<term>User interface</term>
<term>Virtual reality</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Passivité</term>
<term>Système passif</term>
<term>Système à retard</term>
<term>Mise à jour</term>
<term>Dispositif affichage</term>
<term>Commande force</term>
<term>Rétroaction</term>
<term>Sensibilité tactile</term>
<term>Moteur électrique</term>
<term>Frein</term>
<term>Temps retard</term>
<term>Temps différé</term>
<term>Réalité virtuelle</term>
<term>Interface utilisateur</term>
<term>Appareillage électrique</term>
<term>Ajustement modèle</term>
<term>Etude expérimentale</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">In this paper, we propose an energy-based stability control of a passive haptic device equipped with passive actuators such as an electric brake. Unstable behavior is observed even in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment. The force approximation, one of the major limitations of the passive haptic device, is explained in the passive FME analysis. The ideal force display of passive haptic device is investigated, and it is shown that the passive haptic system frequently obtains the pullback capability due to the force approximation. The indirect force control scheme is proposed in that the change rate of passivity is controlled to simulate the ideal force display. To avoid the increase of the passivity due to the rate controller, which is not correlative to stability, passivity feedback is established. A experiment result was conducted with a 2-link passive haptic device equipped with two electric brakes. From the experiment, the proposed control method showed satisfactory performance in displaying a plain virtual wall.</div>
</front>
</TEI>
<inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Passivity control of a passive haptic device</s1>
</fA08>
<fA09 i1="01" i2="1" l="ENG"><s1>2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings</s1>
</fA09>
<fA11 i1="01" i2="1"><s1>KIM (Beom-Seop)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>PARK (Mignon)</s1>
</fA11>
<fA11 i1="03" i2="1"><s1>HWANG (Chang-Soon)</s1>
</fA11>
<fA11 i1="04" i2="1"><s1>KIM (Munsang)</s1>
</fA11>
<fA11 i1="05" i2="1"><s1>CHO (Changhyun)</s1>
</fA11>
<fA14 i1="01"><s1>Dept. of Electrical & Electronic Eng., Yonsei Univ. Intelligent Robotics Res. Center, KIST</s1>
<s2>Seoul</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
</fA14>
<fA14 i1="02"><s1>Dept. of Electrical & Electronic Eng., r Yonsei Univ</s1>
<s2>Seoul</s2>
<s3>KOR</s3>
<sZ>2 aut.</sZ>
</fA14>
<fA14 i1="03"><s1>Intelligent Robotics Res. Center, KIST</s1>
<s2>Seoul</s2>
<s3>KOR</s3>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
<sZ>5 aut.</sZ>
</fA14>
<fA18 i1="01" i2="1"><s1>Institute of Electrical and Electronics Engineers</s1>
<s3>USA</s3>
<s9>org-cong.</s9>
</fA18>
<fA18 i1="02" i2="1"><s1>Robotics Society of Japan</s1>
<s3>JPN</s3>
<s9>org-cong.</s9>
</fA18>
<fA18 i1="03" i2="1"><s1>IEEE Robotics and Automation Society</s1>
<s3>USA</s3>
<s9>org-cong.</s9>
</fA18>
<fA20><s2>vol 3, 2905-2910</s2>
</fA20>
<fA21><s1>2004</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA25 i1="01"><s1>IEEE</s1>
<s2>Piscataway NJ</s2>
</fA25>
<fA26 i1="01"><s0>0-7803-8463-6</s0>
</fA26>
<fA30 i1="01" i2="1" l="ENG"><s1>IEEE/RSJ International Conference on Intelligent Robots and Systems</s1>
<s3>Sendai JPN</s3>
<s4>2004</s4>
</fA30>
<fA43 i1="01"><s1>INIST</s1>
<s2>Y 38917</s2>
<s5>354000153490964720</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2006 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>10 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>06-0459692</s0>
</fA47>
<fA60><s1>C</s1>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA66 i1="01"><s0>USA</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>In this paper, we propose an energy-based stability control of a passive haptic device equipped with passive actuators such as an electric brake. Unstable behavior is observed even in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment. The force approximation, one of the major limitations of the passive haptic device, is explained in the passive FME analysis. The ideal force display of passive haptic device is investigated, and it is shown that the passive haptic system frequently obtains the pullback capability due to the force approximation. The indirect force control scheme is proposed in that the change rate of passivity is controlled to simulate the ideal force display. To avoid the increase of the passivity due to the rate controller, which is not correlative to stability, passivity feedback is established. A experiment result was conducted with a 2-link passive haptic device equipped with two electric brakes. From the experiment, the proposed control method showed satisfactory performance in displaying a plain virtual wall.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D02B04</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D12E04</s0>
</fC02>
<fC02 i1="03" i2="X"><s0>001D12E06</s0>
</fC02>
<fC02 i1="04" i2="X"><s0>001D02D</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Passivité</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Passivity</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Pasividad</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Système passif</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Passive system</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Sistema pasivo</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Système à retard</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Delay system</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Sistema con retardo</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Mise à jour</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Updating</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Actualización</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="3" l="FRE"><s0>Dispositif affichage</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="3" l="ENG"><s0>Display devices</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Commande force</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Force control</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>18</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Moteur électrique</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Electric motor</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Motor eléctrico</s0>
<s5>19</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Frein</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Brake</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Freno</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Temps retard</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Delay time</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Tiempo retardo</s0>
<s5>21</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Temps différé</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Delayed time</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Tiempo diferido</s0>
<s5>22</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Réalité virtuelle</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Virtual reality</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Realidad virtual</s0>
<s5>23</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>User interface</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>24</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Appareillage électrique</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Electric device</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Aparato eléctrico</s0>
<s5>25</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Ajustement modèle</s0>
<s5>27</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Model matching</s0>
<s5>27</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Ajustamiento modelo</s0>
<s5>27</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>33</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>33</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>33</s5>
</fC03>
<fN21><s1>303</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0459692 INIST</NO>
<ET>Passivity control of a passive haptic device</ET>
<AU>KIM (Beom-Seop); PARK (Mignon); HWANG (Chang-Soon); KIM (Munsang); CHO (Changhyun)</AU>
<AF>Dept. of Electrical & Electronic Eng., Yonsei Univ. Intelligent Robotics Res. Center, KIST/Seoul/Corée, République de (1 aut.); Dept. of Electrical & Electronic Eng., r Yonsei Univ/Seoul/Corée, République de (2 aut.); Intelligent Robotics Res. Center, KIST/Seoul/Corée, République de (3 aut., 4 aut., 5 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE/RSJ International Conference on Intelligent Robots and Systems/2004/Sendai JPN; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol 3, 2905-2910; ISBN 0-7803-8463-6</SO>
<LA>Anglais</LA>
<EA>In this paper, we propose an energy-based stability control of a passive haptic device equipped with passive actuators such as an electric brake. Unstable behavior is observed even in the passive haptic system due to time delay mainly arising from the slow update rate of the virtual environment. The force approximation, one of the major limitations of the passive haptic device, is explained in the passive FME analysis. The ideal force display of passive haptic device is investigated, and it is shown that the passive haptic system frequently obtains the pullback capability due to the force approximation. The indirect force control scheme is proposed in that the change rate of passivity is controlled to simulate the ideal force display. To avoid the increase of the passivity due to the rate controller, which is not correlative to stability, passivity feedback is established. A experiment result was conducted with a 2-link passive haptic device equipped with two electric brakes. From the experiment, the proposed control method showed satisfactory performance in displaying a plain virtual wall.</EA>
<CC>001D02B04; 001D12E04; 001D12E06; 001D02D</CC>
<FD>Passivité; Système passif; Système à retard; Mise à jour; Dispositif affichage; Commande force; Rétroaction; Sensibilité tactile; Moteur électrique; Frein; Temps retard; Temps différé; Réalité virtuelle; Interface utilisateur; Appareillage électrique; Ajustement modèle; Etude expérimentale</FD>
<ED>Passivity; Passive system; Delay system; Updating; Display devices; Force control; Feedback regulation; Tactile sensitivity; Electric motor; Brake; Delay time; Delayed time; Virtual reality; User interface; Electric device; Model matching; Experimental study</ED>
<SD>Pasividad; Sistema pasivo; Sistema con retardo; Actualización; Control fuerza; Retroacción; Sensibilidad tactil; Motor eléctrico; Freno; Tiempo retardo; Tiempo diferido; Realidad virtual; Interfase usuario; Aparato eléctrico; Ajustamiento modelo; Estudio experimental</SD>
<LO>INIST-Y 38917.354000153490964720</LO>
<ID>06-0459692</ID>
</server>
</inist>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Corpus

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000C51 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Corpus/biblio.hfd -nk 000C51 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    PascalFrancis
   |étape=   Corpus
   |type=    RBID
   |clé=     Pascal:06-0459692
   |texte=   Passivity control of a passive haptic device
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Passivity control of a passive haptic device

Passivity control of a passive haptic device

Source :

Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

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