Name
Title | ||
|---|---|---|
Frequency Domain Stability Observer and Active Damping Control for Stable Haptic Interaction |
Abstract | ||
|---|---|---|
Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. To resolve this problem, a new observer, working in the frequency domain, is proposed in this research. The observer quantifies the degree of instability of a haptic system, and a proposed controller generates variable damping in proportion to this quantitative instability. Especially, for a double layered virtual wall, the proposed methods were much faster in detecting haptic instability than other schemes, and successfully reduced unstable behavior. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1049/iet-cta:20070069 | IET Control Theory & Applications |
Keywords | Field | DocType |
stability,damping,frequency-domain analysis,haptic interfaces,observers | Frequency domain,Control theory,Vibration control,Proportional control,Control theory,Instability,Control engineering,Control system,Observer (quantum physics),Haptic technology,Physics | Conference |
Volume | Issue | ISSN |
2 | 4 | 1751-8644 |
Citations | PageRank | References |
5 | 0.57 | 4 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dongseok Ryu | 1 | 66 | 9.79 |
| Jae-Bok Song | 2 | 484 | 63.21 |
| Junho Choi | 3 | 366 | 60.87 |
| Sungchul Kang | 4 | 373 | 47.67 |
| Munsang Kim | 5 | 608 | 63.81 |