Haptic systems 530 655
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Haptic Systems 530-655. Mohsen Mahvash Lecture 13 26/1/06. Methods to stabilize haptic interactions with virtual environments. An overview of the last lecture Virtual coupling Passivity controller Multi-rate multi-model implementation References. An overview of the last lecture.

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Haptic Systems 530-655

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Haptic systems 530 655

Haptic Systems530-655

Mohsen Mahvash

Lecture 13

26/1/06


Methods to stabilize haptic interactions with virtual environments

Methods to stabilize haptic interactions with virtual environments

  • An overview of the last lecture

  • Virtual coupling

  • Passivity controller

  • Multi-rate multi-model implementation

  • References


An overview of the last lecture

An overview of the last lecture

Device

Virtual Wall


Virtual couple

Virtual couple

Example

Virtual Wall

Virtual Couple

Virtual Wall


Calculating energy leak

Calculating energy leak

Virtual Wall

Is my program able to calculate energy leak?

absorbed energy by a virtual wall


Passivity controller

Passivity controller

Virtual Wall

NO

Virtual Wall+ Passivity Controller


Multi rate multi model rendering

Very high rate implementation

Multi-rate multi-model rendering

No energy leak at the moment of model switch

low rate switch

high rate rendering


Passive switching

Passive switching

NO

Yes

Virtual Wall


References

References

  • .J. E. Colgate and G. G. Schenkel, “Passivity of a class of sampled-datasystems: Application to haptic interfaces,” J. Robot. Syst., vol. 14, no. 1,pp. 37–47, 1997.

  • B. Hannaford and J.-H. Ryu, “Stable haptic interaction with virtual environments,” in IEEE Trans. Robot. Autom., vol. 18, Feb. 2002, pp. 1–10.

  • M. Mahvash and V. Hayward, “High-fidelity passive force-reflecting virtual environments,” IEEE Trans. Robot., vol. 21, no. 1, pp. 38–46, Feb.2005.

  • Mahvash, M., Hayward, V. 2003a. Passivity-Based High-Fidelity Haptic Rendering of Contact. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 3722-3728

Tomorrow

Stability and transparency of  force-feedback  telemanipulation systems


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