Robustly stable haptic interaction control using an energy-bounding algorithm

International Journal of Robotics Research

Volumn 29, Issue 6, 2010, Pages 666-679

  Kim, Jong Phil ^a   Ryu, Jeha ^b  

^a Korea Institute of Science and Technology   (South Korea)

^b Gwangju Institute of Science and Technology (GIST)   (South Korea)

Author keywords

Haptics; Passivity; Sampled data system; Stability

Indexed keywords

EFFECTIVE DAMPING; HAPTIC DEVICES; HAPTIC INTERACTIONS; HAPTIC SYSTEMS; HAPTICS; HUMAN OPERATOR; SAMPLE-AND-HOLD; SAMPLED DATA SYSTEMS; SAMPLED-DATA; SAMPLING FREQUENCIES; UNSTABLE BEHAVIOR;

ALGORITHMS; ELASTIC DEFORMATION; HAPTIC INTERFACES; MATHEMATICAL OPERATORS; PASSIVATION; SAMPLED DATA CONTROL SYSTEMS;

SYSTEM STABILITY;

EID: 77951214286     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364909338770     Document Type: Article

References (22)

1. Abbott, J. and Okamura, M. (2005). Effects of position quantization and sampling rate on virtual-wall passivity. IEEE Transactions on Robotics, 21 (5). 952-964.
2. Clover, L. (1996). Control system design for robots used in simulating dynamic force and moment interaction in virtual reality applications. PhD Dissertation, Iowa State University.
3. Colgate, E. and Brown, M. (1994). Factors affecting the Zwidth of a haptic display. Proceedings of IEEE International Conference of Robotics and Automation, Los Alamitos, CA, pp. 3205-3210.
4. Colgate, E. and Schenkel, G. (1997). Passivity of a class of sampled-data systems: application to haptic interfaces. Journal of Robotic Systems, 14 (1). 37-47.
5. Colgate, E., Stanley, C. and Brown, M. (1995). Issues in the haptic display of tool use. Proceedings of IEEE/RSJ International Conference on Intelligent Robotics and Systems, Pittsburgh, PA, pp. 140-145.
6. Diolaiti, N., Niemeyer, G., Barbagli, F. and Salisbury, K. (2006). Stability of haptic rendering: quantization, discretization, time-delay and Coulomb effects. IEEE Transactions on Robotics, 22 (2). 256-268.
7. Gosline, A.H., Campion, G. and Hayward, V. (2006). On the use of eddy current brakes as tunable, fast turn-on viscous dampers for haptic rendering. Proceedings of Eurohaptics 2006, pp. 229-234.
8. Hannaford, B. and Ryu, J.-H. (2002). Time domain passivity control of haptic interfaces. IEEE Transactions on Robotics and Automation, 18 (1). 1-10. (Pubitemid 34414680)
9. Hogan, N. (1989). Controlling impedance at the man machine. Proceedings of IEEE International Conference of Robotics and Automation, Scottsdale, AZ, pp. 1626-1631.
10. Kim, J., Kim, J.-P., Seo, C. and Ryu, J. (2009). An energy bounding approach for directional transparency in multiple degree-of-freedom haptic interaction. World Haptics, Salt Lake City, UT, 2009.
11. Kim, J.-P. 2007. Energy bounding control and LOMI-based rendering for haptic interaction with VEs. PhD Dissertation, Gwangju Institute of Science and Technology, School of Information and Mechatronics.
12. Kim, J.-P. and Ryu, J. (2004). Energy bounding algorithm based on passivity theorem for stable haptic interaction control. Proceedings of the 12th Symposium of Haptic Interfaces for VE and Teleoperator Systems, Chicago, IL, pp. 351-357.
13. Kim, J.-P., Seo, C. and Ryu, J. (2007). A preliminary test for bilateral teleoperation using energy bounding algorithm. Proceedings of the 16th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN 2007), pp. 304-309.
14. Kuchenbecker, K. and Niemeyer, G. (2005). Modeling induced master motion in force-reflecting teleoperation. In Proceedings of the IEEE International Conference of Robotics and Automation, Barcelona, Spain, pp. 348-353.
15. Mehling, J., Colgate, J. and Peshkin, M. (2005). Increasing the impedance range of a haptic display by adding electrical damping. Proceedings of 1st Joint Eurohaptics Conference and Symposium on Haptic Interfaces for VE and Teleoperator Systems (WHC05), pp. 257-262.
16. Miller, B., Colgate, J. and Freeman, R. (2000). Guaranteed stability of haptic systems with nonlinear VEs. IEEE Transactions on Robotics and Automation, 16 (6). 712-719.
17. Miller, B., Colgate, J. and Freeman, R. (2004). On the role of dissipation in haptic systems. IEEE Transactions on Robotics, 20 (4). 768-771.
18. Ryu, J.-H., Kim, Y.S. and Hannaford, B. (2004). Sampled-and continuous-time passivity and stability of VEs. IEEE Transactions on Robotics, 20 (4). 772-776.
19. Ryu, J.-H., Preusche, C., Hannaford, B. and Hirzinger, G. (2005). Time domain passivity control with reference energy following. IEEE Transactions on Control Systems Technology, 13 (5). 737-742.
20. Seo, C., Kim, J.-P., Yoon, J.H. and Ryu, J. (2008). Stable bilateral teleoperation using the energy-bounding algorithm: basic idea and feasibility tests. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2008), pp. 335-340.
21. Stramigioli, S., Secchi, C., van der Schaft, A.J. and Fantuzzi, C. (2005). Sampled data systems passivity and discrete port-Hamiltonian systems. IEEE Transactions on Robotics, 21 (4). 574-587.
22. Weir, D.W., Colgate, J.E. and Peshkin, M.A. (2008). Measuring and increasing Z-width with active electrical damping. Proceedings of the Symposium on Haptic Interfaces for VEs and Teleoperators Systems 2008, Reno, NV, March 2008, pp. 169-175.