FPGA based time domain passivity observer and passivity controller

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2009, Pages 433-438

  Han, Beibei ^a   Ryu, Jee Hwan ^a   Jung, Il Kyun ^b  

^a Korea University of Technology and Education   (South Korea)

^b Korea Electronic Technology Institute (KETI)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL EFFICIENCY; ENCODER PULSE; ENERGY CALCULATION; FAST SAMPLING RATES; LOW VELOCITIES; MOTOR CURRENTS; NOISE BEHAVIOR; PARALLEL PROCESSING; PASSIVITY CONTROLLER; REFERENCE CURRENTS; SIGNAL NOISE; SOFTWARE-BASED; TIME DOMAIN PASSIVITY; VIRTUAL WALLS;

ASYMPTOTIC ANALYSIS; FIELD PROGRAMMABLE GATE ARRAYS (FPGA); HAPTIC INTERFACES; MECHATRONICS; PASSIVATION; TIME DOMAIN ANALYSIS; TIME VARYING CONTROL SYSTEMS;

INTELLIGENT MECHATRONICS;

EID: 70350439854     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2009.5229976     Document Type: Conference Paper

References (24)

1. J. E. Colgate, M. C. Stanley, and J. M. Brown, "Issues in the haptic display of tool use," IROS, vol. 3, pp.3140, International Conference on Intelligent Robots and Systems-Volume 3, 1995
2. R. J. Adams, and B. Hannaford, "Stable Haptic Interaction with Virtual Environments," IEEE Trans. on Robotics and Automation, vol. 15, no. 3, pp. 465-474, 1999
3. B. Hannaford, and J. H. Ryu, "Time Domain Passivity Control of Haptic Interfaces," IEEE Trans. on Robotics and Automation, vol. 18, no. 1, pp. 1-10, 2002.
4. D. Lee, and M. W. Spong, "Passive Bilateral Control of Teleoperators under Constant Time Delay," IEEE Transactions on Robotics, Volume 22, Issue 2, April 2006 Pages:269-281
5. J. Kim, and J. Ryu, "Energy Bounding Algorithm Based-on Passivity Theorem for Stable Haptic Interaction Control," haptics,pp.351-357, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'04), 2004
6. J. E. Colgate, and J. M. Brown, "Factors Affecting the Z-Width of a Haptic Display," Proc. IEEE Int. Conf. Robot. Automat, San Diego, CA, May 1994, pp. 3205-3210.
7. J. Mehling, J. Colgate, and M. Peshkin, "Increasing the impedance range of a haptic display by adding electrical damping," in Proc. of the IEEE World Haptics Conference (WHC), Pisa, Italy, March 2005, pp. 257-262.
8. D. W. Weir, J. E. Colgate, and M. A. Peshkin, "Measuring and Increasing Z-Width with Active Electrical Damping," Proceedings of the IEEE 16th SymposiumonHaptic Interfaces for Virtual Environment and Teleoperator Systems 2008, Reno, Nevada, March 13-14, 2008.
9. A. H. C. Gosline, and V. Hayward, "Eddy Current Brakes for Haptic Interfaces: Design, Identification, and Control," IEEE/ASME Transactions on Mechatronics, Volume 13, Issue 6 Dec. 2008, On page(s): 669-677
10. E. Ishii, H. Nishi, and K. Ohnishi, "Improvement of performance in bilateral teleoperation by using FPGA," in Advanced Motion Control 2006, 9th IEEE International Workshop on, pp. 317 C 322, March 2006
11. E. Kopp, "Improved haptic fidelity via reduced sampling period with an FPGA-based real-time hardware platform," Master thesis, 2006
12. H. Vasudevan, B. S. Manohar, and M. Manivannan, "Rendering stiffer walls: A hybrid haptic system using continuous and discrete time feedback," Advanced Robotics, vol. 21, no. 11, August 2007
13. B. B. Han, J. H. Ryu "An Injecting Method of Physical Damping to Haptic Interfaces Based on FPGA," Proceedings of the International Conference on Control, Automation and Systems (ICCAS 2008), Seoul, Korea.
14. J. E. Colgate, and G. Schenkel, "Passivity of a Class of Sampled Data Systems: Application to Haptic Interfaces," American Control Conference, Baltimore, MD, 199bitemc6
15. G. Niemeyer and J. J. Slotine, "Stable Adaptive Teleoperation," IEEE Journal of Oceanic Engineering, vol. 16, pp. 152-162, 1991.
16. A. J. van der Schaft, "L2-Gain and Passivity Techniques in Nonlinear Control," ser. Communications and Control Engineering Series. Berlin, Germany: Springer-Verlag, 2000.
17. J. C. Willems, "Dissipative dynamical systems-Part I: General theory," Arch. Rat. Mech. An., vol. 45, pp. 321-351, 1972.
18. J. H. Ryu, Y. S. Kim, and B. Hannaford, "Sampled and continuous time passivity and stability of virtual environments," IEEE Trans. Robot. Autom., vol.20.no.2.pp. 365-373, Apr. 2004.
19. J. H. Ryu, C. Preusche, B. Hannaford, and G. Hirzinger,"Time Domain Passivity Control with Reference Energy Behavior," IEEE Trans. on Control Systems Technology, Vol. 13, No. 5, pp. 737-742.
20. B. Hannaford and J. H. Ryu, "Time Domain Passivity Control of Haptic Interfaces," U.S. Patent No. 7,027,965 B2, Apr. 11, 2006.
21. Y. S. Kim and B. Hannaford, "Some Practical Issues in Time Domain Passivity Control of Haptic Interfaces," Proc. IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, Maui, Hawaii, 2001, pp. 1744-1750.
22. J. H. Ru, B. Hannaford, D. S. Kwon, and J. H. Kim, "A Simulation/Experimental Study of the Noisy Behavior of the Time Domain Passivity Controller," IEEE Trans. on Robotics, Vol. 21, No. 4, pp. 733-741. SCI Impact Factor: 2.103
23. T. Tsuji, M. Mizuochi, H. Nishi, and K. Ohnishi, "A velocity measurement method for acceleration control," Industrial Electronics Society, 2005. IECON 2005. 32nd Annual Conference of IEEE, vol., no.pp. 6 pp.-, 6-10 Nov. 2005
24. P. Bhatti, and B. Hannaford "Single-chip velocity measurement system for incremental optical encoders." Control Systems Technology, IEEE Transactions on 5(6): 654-661, 1997.