DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ryu, Jee-Hwan | ko |
dc.contributor.author | Hannaford, Blake | ko |
dc.contributor.author | Kwon, Dong-Soo | ko |
dc.contributor.author | Kim, Jong-Hwan | ko |
dc.date.accessioned | 2007-10-04T05:23:19Z | - |
dc.date.available | 2007-10-04T05:23:19Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2005-08 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS, v.21, pp.733 - 741 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10203/1635 | - |
dc.description.abstract | A noisy behavior of the time-domain passivity controller during the period of low velocity is analyzed. Main reasons of the noisy behavior are investigated through a simulation with a one-DOF haptic interface model. It is shown that the POW is ineffective in dissipating the produced energy when the sign of the velocity, which is numerically calculated from the measured position, is suddenly changed, and when this velocity is zero. These cases happen during the period of low velocity due to the limited resolution of the position sensor. New methods, ignoring the produced energy from the velocity sign change, and holding the control force while the velocity is zero, are proposed for removing the noisy behavior. The feasibility of the developed methods is proved with both a simulation and a real experiment. | - |
dc.description.sponsorship | This work was supported in part by a grant from BK21 School of Information Technology of KAIST, and ITRC-Intelligent Robot Research Center of KAIST. | en |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | A simulation/experimental study of the noisy behavior of the time-domain passivity controller | - |
dc.type | Article | - |
dc.identifier.wosid | 000231157400020 | - |
dc.identifier.scopusid | 2-s2.0-24144461326 | - |
dc.type.rims | ART | - |
dc.citation.volume | 21 | - |
dc.citation.beginningpage | 733 | - |
dc.citation.endingpage | 741 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.identifier.doi | 10.1109/TRO.2005.847611 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Ryu, Jee-Hwan | - |
dc.contributor.localauthor | Kwon, Dong-Soo | - |
dc.contributor.localauthor | Kim, Jong-Hwan | - |
dc.contributor.nonIdAuthor | Hannaford, Blake | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | haptic interface | - |
dc.subject.keywordAuthor | noisy behavior | - |
dc.subject.keywordAuthor | passivity controller | - |
dc.subject.keywordAuthor | passivity observer | - |
dc.subject.keywordAuthor | time-domain passivity | - |
dc.subject.keywordPlus | VIRTUAL ENVIRONMENTS | - |
dc.subject.keywordPlus | HAPTIC INTERACTION | - |
dc.subject.keywordPlus | STABILITY | - |
dc.subject.keywordPlus | TELEOPERATION | - |
dc.subject.keywordPlus | SYSTEMS | - |
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