Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2003, Pages 2944-2949

  Preusche, Carsten ^a   Hirzinger, Gerd ^a   Ryu, Jee Hwan ^b   Hannaford, Blake ^b  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b University of Washington   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONSTRAINT THEORY; CONTROL EQUIPMENT; DAMPING; DEGREES OF FREEDOM (MECHANICS); FRICTION; GEOMETRY; HAPTIC INTERFACES; INFORMATION ANALYSIS; TIME DOMAIN ANALYSIS; VECTORS;

DAMPING FORCE; PASSIVITY CONTROL;

ROBOTICS;

EID: 0346148596     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. G. Färber and J. Hoogen, editors. Workshop on Advances in Interactive Multimodal Telepresence Systems, Munich, Germany, March 2001.
2. M. C. Cavusoglu. Telesurgery and Surgical Simulation: Design, Modeling, and Evaluation of Haptic Interfaces to Real and Virtual Surgical Environments. PhD thesis, UC Berkeley, August 2000.
3. C. Preusche, A. Rettig, and G. Hirzinger. Assembly Verification in Digital Mock-Ups using Force Feedback. In 12th International Symposium on Measurement and Control in Robotics Towards Advanced Robot Systems and Virtual Reality, 2002.
4. Klaus Landzettel, Bernhard Brunner, Alexander Beyer, Erich Krämer, Garsten Preusche, Michael Steinmetz, and Gerd Hirzinger. ROKVISS Verification of Advanced Tele-Presence Concepts for Future Space Missions. In Proceedings of Advanced Space Technologies for Robotics and Automation, 2002.
5. B. Hannaford. A design framework for teleoperators with kinesthetic feedback. IEEE Trans. on Robotics and Automation, 5(4):426-434, August 1989.
6. Richard J. Adams and Blake Hannaford. A two-port framework for the design of unconditionally stable haptic interfaces. In 7998 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1254-9. Victoria, B.C., 1998.
7. R. J. Anderson and M. Spong. Bilateral control of operators with time delay. In IEEE Transaction on Automatic Control, number 34, pages 494-501, 1989.
8. G. Niemeyer and J. Slotine. Stable adaptive teleoperation. IEEE Journal of Oceanographic Engineering, 16(1):152-162, 1991.
9. T. Imaida, Y. Yokokohji, T. Doi, M. Oda, and T. Yoshikawa. Ground-Space Bilateral Teleoperation Experiment Using ETS-VII Robot Arm with Direct Kinesthetic Coupling. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1031-1038, Seoul, Korea, 2001.
10. B. Hannaford and J. H. Ryu. Time Domain Passivity Control of Haptic Interfaces. IEEE Trans. on Robotics and Automation, 18(1): 1-10, 2002.
11. J. H. Ryu, D. S. Kwon, and B. Hannaford. Stable Teleoperation with Time Domain Passivity Control. In Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, USA, 2002.
12. Jee-Hwan Ryu. Stability Guatanteed Control for Teleoperators: Time Domain Passivity Approach. PhD thesis, Korea Advanced Institute of Science and Technology, 2002.
13. J. H. Ryu, Y. S. Kim, and B. Hannaford. Sampled and Continuous Time Passivity and Stability of Virtual Environments. In Proc. of IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003. To be published.
14. J. H. Ryu, B. Hannaford, C. Preusche, and G. Hirzinger. Time Domain Passivity Control with Reference Energy Behavior. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, Las Vegas, USA, Oct 2003.
15. T.H. Massie and J.K. Salisbury. The Phantom Haptic Interface: A Device for Probing Virtual Objects. In Proceedings of the ASME International Mechanical Engineering Congress and Exhibition, pages 295-302, Chicago, 1994.