HapticV1, PascalFrancis, Corpus, bibRecord, 000D86

A simulation/experimental study of the noisy behavior of the time-domain passivity controller

Identifieur interne : 000D86 ( PascalFrancis/Corpus ); précédent : 000D85; suivant : 000D87

A simulation/experimental study of the noisy behavior of the time-domain passivity controller

Auteurs : Jee-Hwan Ryu ; Blake Hannaford ; Dong-Soo Kwon ; Jong-Hwan Kim

Source :

IEEE transactions on robotics

RBID : Pascal:06-0138721

Descripteurs français

Pascal (Inist)
- Passivité, Commande force, Interface utilisateur, Sensibilité tactile, Capteur position, Mesure position, Position transducteur, Faisabilité, Méthode domaine temps, Modélisation, Méthode énergétique.

English descriptors

KwdEn :
- Energy method, Feasibility, Force control, Modeling, Passivity, Position measurement, Position sensor, Tactile sensitivity, Time domain method, Transducer position, User interface.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A05				`@2 21`
A06				`@2 4`
A08	`01`	`1`	`ENG`	`@1 A simulation/experimental study of the noisy behavior of the time-domain passivity controller`
A11	`01`	`1`		`@1 RYU (Jee-Hwan)`
A11	`02`	`1`		`@1 HANNAFORD (Blake)`
A11	`03`	`1`		`@1 KWON (Dong-Soo)`
A11	`04`	`1`		`@1 KIM (Jong-Hwan)`
A14	`01`			`@1 School of Mechanical Engineering, Korea University of Technology and Education @2 Cheoan-city 330-708 @3 KOR @Z 1 aut.`
A14	`02`			`@1 Department of Electrical Engineering, University of Washington @2 Seattle, WA 98195-2500 @3 USA @Z 2 aut.`
A14	`03`			`@1 Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology @2 Taejeon 305-701 @3 KOR @Z 3 aut.`
A14	`04`			`@1 Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology @2 Taejeon 305-701 @3 KOR @Z 4 aut.`
A20				`@1 733-741`
A21				`@1 2005`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 21023A @5 354000131504050200`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 22 ref.`
A47	`01`	`1`		`@0 06-0138721`
A60				`@1 P @3 CC`
A61				`@0 A`
A64	`01`	`2`		`@0 IEEE transactions on robotics`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D11`
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 Commande force @5 07`
C03	`02`	`X`	`ENG`	`@0 Force control @5 07`
C03	`02`	`X`	`SPA`	`@0 Control fuerza @5 07`
C03	`03`	`X`	`FRE`	`@0 Interface utilisateur @5 18`
C03	`03`	`X`	`ENG`	`@0 User interface @5 18`
C03	`03`	`X`	`SPA`	`@0 Interfase usuario @5 18`
C03	`04`	`X`	`FRE`	`@0 Sensibilité tactile @5 19`
C03	`04`	`X`	`ENG`	`@0 Tactile sensitivity @5 19`
C03	`04`	`X`	`SPA`	`@0 Sensibilidad tactil @5 19`
C03	`05`	`X`	`FRE`	`@0 Capteur position @5 20`
C03	`05`	`X`	`ENG`	`@0 Position sensor @5 20`
C03	`05`	`X`	`SPA`	`@0 Sensor posición @5 20`
C03	`06`	`X`	`FRE`	`@0 Mesure position @5 21`
C03	`06`	`X`	`ENG`	`@0 Position measurement @5 21`
C03	`06`	`X`	`SPA`	`@0 Medición posición @5 21`
C03	`07`	`X`	`FRE`	`@0 Position transducteur @5 22`
C03	`07`	`X`	`ENG`	`@0 Transducer position @5 22`
C03	`07`	`X`	`SPA`	`@0 Posición transductor @5 22`
C03	`08`	`X`	`FRE`	`@0 Faisabilité @5 23`
C03	`08`	`X`	`ENG`	`@0 Feasibility @5 23`
C03	`08`	`X`	`SPA`	`@0 Practicabilidad @5 23`
C03	`09`	`X`	`FRE`	`@0 Méthode domaine temps @5 28`
C03	`09`	`X`	`ENG`	`@0 Time domain method @5 28`
C03	`09`	`X`	`SPA`	`@0 Método dominio tiempo @5 28`
C03	`10`	`X`	`FRE`	`@0 Modélisation @5 29`
C03	`10`	`X`	`ENG`	`@0 Modeling @5 29`
C03	`10`	`X`	`SPA`	`@0 Modelización @5 29`
C03	`11`	`X`	`FRE`	`@0 Méthode énergétique @5 30`
C03	`11`	`X`	`ENG`	`@0 Energy method @5 30`
C03	`11`	`X`	`SPA`	`@0 Método energético @5 30`
N21				`@1 086`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0138721 INIST
ET :	A simulation/experimental study of the noisy behavior of the time-domain passivity controller
AU :	RYU (Jee-Hwan); HANNAFORD (Blake); KWON (Dong-Soo); KIM (Jong-Hwan)
AF :	School of Mechanical Engineering, Korea University of Technology and Education/Cheoan-city 330-708/Corée, République de (1 aut.); Department of Electrical Engineering, University of Washington/Seattle, WA 98195-2500/Etats-Unis (2 aut.); Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology/Taejeon 305-701/Corée, République de (3 aut.); Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology/Taejeon 305-701/Corée, République de (4 aut.)
DT :	Publication en série; Courte communication, note brève; Niveau analytique
SO :	IEEE transactions on robotics; Etats-Unis; Da. 2005; Vol. 21; No. 4; Pp. 733-741; Bibl. 22 ref.
LA :	Anglais
EA :	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.
CC :	001D02D11
FD :	Passivité; Commande force; Interface utilisateur; Sensibilité tactile; Capteur position; Mesure position; Position transducteur; Faisabilité; Méthode domaine temps; Modélisation; Méthode énergétique
ED :	Passivity; Force control; User interface; Tactile sensitivity; Position sensor; Position measurement; Transducer position; Feasibility; Time domain method; Modeling; Energy method
SD :	Pasividad; Control fuerza; Interfase usuario; Sensibilidad tactil; Sensor posición; Medición posición; Posición transductor; Practicabilidad; Método dominio tiempo; Modelización; Método energético
LO :	INIST-21023A.354000131504050200
ID :	06-0138721

Links to Exploration step

Pascal:06-0138721

Le document en format XML

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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>
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<s5>19</s5>
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<s5>19</s5>
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<s5>20</s5>
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<server><NO>PASCAL 06-0138721 INIST</NO>
<ET>A simulation/experimental study of the noisy behavior of the time-domain passivity controller</ET>
<AU>RYU (Jee-Hwan); HANNAFORD (Blake); KWON (Dong-Soo); KIM (Jong-Hwan)</AU>
<AF>School of Mechanical Engineering, Korea University of Technology and Education/Cheoan-city 330-708/Corée, République de (1 aut.); Department of Electrical Engineering, University of Washington/Seattle, WA 98195-2500/Etats-Unis (2 aut.); Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology/Taejeon 305-701/Corée, République de (3 aut.); Department of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology/Taejeon 305-701/Corée, République de (4 aut.)</AF>
<DT>Publication en série; Courte communication, note brève; Niveau analytique</DT>
<SO>IEEE transactions on robotics; Etats-Unis; Da. 2005; Vol. 21; No. 4; Pp. 733-741; Bibl. 22 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02D11</CC>
<FD>Passivité; Commande force; Interface utilisateur; Sensibilité tactile; Capteur position; Mesure position; Position transducteur; Faisabilité; Méthode domaine temps; Modélisation; Méthode énergétique</FD>
<ED>Passivity; Force control; User interface; Tactile sensitivity; Position sensor; Position measurement; Transducer position; Feasibility; Time domain method; Modeling; Energy method</ED>
<SD>Pasividad; Control fuerza; Interfase usuario; Sensibilidad tactil; Sensor posición; Medición posición; Posición transductor; Practicabilidad; Método dominio tiempo; Modelización; Método energético</SD>
<LO>INIST-21023A.354000131504050200</LO>
<ID>06-0138721</ID>
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A simulation/experimental study of the noisy behavior of the time-domain passivity controller

A simulation/experimental study of the noisy behavior of the time-domain passivity controller

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