HapticV1, PascalFrancis, Corpus, bibRecord, 000D94

Multirate control of haptic interface for stability and high fidelity

Identifieur interne : 000D94 ( PascalFrancis/Corpus ); précédent : 000D93; suivant : 000D95

Multirate control of haptic interface for stability and high fidelity

Auteurs : Kyungno Lee ; DOO YONG LEE

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Multirate control of haptic interface for stability and high fidelity`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE international conference on systems, man & cybernetics : The Hague, Netherlands, 10-13 october 2004`
A11	`01`	`1`		`@1 LEE (Kyungno)`
A11	`02`	`1`		`@1 DOO YONG LEE`
A14	`01`			`@1 Department of Mechanical Engineering Korea Advanced Institute of Science and Technology @2 Daejeon @3 KOR @Z 1 aut. @Z 2 aut.`
A18	`01`	`1`		`@1 IEEE Systems, man, and cybernetics society @3 USA @9 org-cong.`
A20				`@2 vol3, 2542-2547`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8566-7`
A30	`01`	`1`	`ENG`	`@1 International Conference on Systems, Man and Cybernetics @3 The Hague NLD @4 2004-10-10`
A43	`01`			`@1 INIST @2 y 38703 @5 354000138711662130`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 8 ref.`
A47	`01`	`1`		`@0 06-0112043`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D07`
C03	`01`	`X`	`FRE`	`@0 Système multicadence @5 06`
C03	`01`	`X`	`ENG`	`@0 Multirate system @5 06`
C03	`01`	`X`	`SPA`	`@0 Sistema cadencia múltiple @5 06`
C03	`02`	`X`	`FRE`	`@0 Synthèse commande @5 07`
C03	`02`	`X`	`ENG`	`@0 Control synthesis @5 07`
C03	`02`	`X`	`SPA`	`@0 Síntesis control @5 07`
C03	`03`	`X`	`FRE`	`@0 Commande fréquence @5 08`
C03	`03`	`X`	`ENG`	`@0 Frequency control @5 08`
C03	`03`	`X`	`SPA`	`@0 Control frecuencia @5 08`
C03	`04`	`X`	`FRE`	`@0 Interface utilisateur @5 18`
C03	`04`	`X`	`ENG`	`@0 User interface @5 18`
C03	`04`	`X`	`SPA`	`@0 Interfase usuario @5 18`
C03	`05`	`X`	`FRE`	`@0 Sensibilité tactile @5 19`
C03	`05`	`X`	`ENG`	`@0 Tactile sensitivity @5 19`
C03	`05`	`X`	`SPA`	`@0 Sensibilidad tactil @5 19`
C03	`06`	`X`	`FRE`	`@0 Fidélité @5 20`
C03	`06`	`X`	`ENG`	`@0 Fidelity @5 20`
C03	`06`	`X`	`SPA`	`@0 Fidelidad @5 20`
C03	`07`	`X`	`FRE`	`@0 Haute fréquence @5 21`
C03	`07`	`X`	`ENG`	`@0 High frequency @5 21`
C03	`07`	`X`	`SPA`	`@0 Alta frecuencia @5 21`
C03	`08`	`X`	`FRE`	`@0 Modélisation @5 28`
C03	`08`	`X`	`ENG`	`@0 Modeling @5 28`
C03	`08`	`X`	`SPA`	`@0 Modelización @5 28`
N21				`@1 072`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0112043 INIST
ET :	Multirate control of haptic interface for stability and high fidelity
AU :	LEE (Kyungno); DOO YONG LEE
AF :	Department of Mechanical Engineering Korea Advanced Institute of Science and Technology/Daejeon/Corée, République de (1 aut., 2 aut.)
DT :	Congrès; Niveau analytique
SO :	International Conference on Systems, Man and Cybernetics/2004-10-10/The Hague NLD; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; vol3, 2542-2547; ISBN 0-7803-8566-7
LA :	Anglais
EA :	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.
CC :	001D02D07
FD :	Système multicadence; Synthèse commande; Commande fréquence; Interface utilisateur; Sensibilité tactile; Fidélité; Haute fréquence; Modélisation
ED :	Multirate system; Control synthesis; Frequency control; User interface; Tactile sensitivity; Fidelity; High frequency; Modeling
SD :	Sistema cadencia múltiple; Síntesis control; Control frecuencia; Interfase usuario; Sensibilidad tactil; Fidelidad; Alta frecuencia; Modelización
LO :	INIST-y 38703.354000138711662130
ID :	06-0112043

Links to Exploration step

Pascal:06-0112043

Le document en format XML

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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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<fC01 i1="01" l="ENG"><s0>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.</s0>
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<server><NO>PASCAL 06-0112043 INIST</NO>
<ET>Multirate control of haptic interface for stability and high fidelity</ET>
<AU>LEE (Kyungno); DOO YONG LEE</AU>
<AF>Department of Mechanical Engineering Korea Advanced Institute of Science and Technology/Daejeon/Corée, République de (1 aut., 2 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
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<LA>Anglais</LA>
<EA>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.</EA>
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Multirate control of haptic interface for stability and high fidelity

Multirate control of haptic interface for stability and high fidelity

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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