Abstract: A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a PHANToM commercial haptic device.
To solve this problem, we propose a method to use a time-varying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual ...
... One of the state-of-the-art stabilizers in pHRI systems is the Time-Domain Passivity Approach (TDPA), which guarantees the stability of the system by ...
To solve this problem, we propose a method to use a time-varying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual ...
A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a PHANTOM commercial haptic device. The passivity ...
To solve this problem, we propose a method to use a time-varying desired energy threshold instead of fixed zero energy threshold for the PO, and make the actual ...
An energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions and ...
The energy reference is found using force and velocity data, which does not need the foreknowledge of the environment dynamic model parameters and time delay.
This paper presents an analysis of the passivity condition for discrete-time bilateral teleoperation systems. Considering discrete-time controllers for a master ...
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Abstract—A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact.