Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays Export

@inproceedings{phrh03, abstract = {In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical information coded in the output signals of the system. Experiments show the validity of this concept.}, author = {Preusche, Carsten and Hirzinger, Gerd and Ryu, Jee H. and Hannaford, Blake}, booktitle = {Proceedings of the 2003 IEEE/RSJ}, citeulike-article-id = {277164}, comment = {Erweiterung der passiven Regelungsstrategie f\"{u}r Systeme mit mehr Freiheitsgraden (Beispiel: 6). Beispiel mit PHANTOM-Roboter und Wand. }, keywords = {admittance, control-strategy, impedance, passivity}, month = {October}, pages = {2944--2949}, posted-at = {2005-08-09 08:37:16}, priority = {0}, title = {Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays}, year = {2003} }

TY - CONF ID - phrh03 L3 - citeulike-article-id:277164 N2 - In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical information coded in the output signals of the system. Experiments show the validity of this concept. EP - 2949 TI - Time Domain Passivity Control for 6 Degrees of Freedom Haptic Displays T2 - Proceedings of the 2003 IEEE/RSJ SP - 2944 KW - admittance KW - control-strategy KW - impedance KW - passivity N1 - Erweiterung der passiven Regelungsstrategie für Systeme mit mehr Freiheitsgraden (Beispiel: 6). Beispiel mit PHANTOM-Roboter und Wand. AU - Preusche, Carsten AU - Hirzinger, Gerd AU - Ryu, Jee AU - Hannaford, Blake PY - 2003/10// ER -