haptic systems 530-655
DESCRIPTION
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. - PowerPoint PPT PresentationTRANSCRIPT
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Haptic Systems 530-655
Mohsen Mahvash Lecture 1326/1/06
2
An overview of the last lecture
Virtual coupling
Passivity controller
Multi-rate multi-model implementation
References
Methods to stabilize haptic interactions with virtual environments
3
An overview of the last lecture
Operator
)(tvDevice
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hold
sample
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virtual
Operator
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& wall
virtual
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k
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||2
1BkTb
Virtual Wall
4
Virtual coupleOperator
)(tvDevice
)(tx
hold
sample
& wall
virtual
k10
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Example
couple
virtual
Virtual Wall
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101
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5 Virtual Wall
k
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5
Calculating energy leak
Is my program able to calculate energy leak?
f k
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& wall
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][nf ][nx
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6
Passivity controller
Virtual Wall
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Virtual Wall+ Passivity Controller
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7
Multi-rate multi-model rendering
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nn kk
No energy leak at the moment of model switch
][][1nEnE
nn ff
ratehigh
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ratelowxf
ModelsLocal
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Very high rate implementation
high rate rendering
low rate switch
8
Passive switching f
1k
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xk
Virtual Wallk
][][1nEnE
nn ff
ratehigh
nf ][
ratelowxf
ModelsLocal
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2kf
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s
9
References
1. .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.
2. B. Hannaford and J.-H. Ryu, “Stable haptic interaction with virtual environments,” in IEEE Trans. Robot. Autom., vol. 18, Feb. 2002, pp. 1–10.
3. M. Mahvash and V. Hayward, “High-fidelity passive force-reflecting virtual environments,” IEEE Trans. Robot., vol. 21, no. 1, pp. 38–46, Feb.2005.
4. Mahvash, M., Hayward, V. 2003a. Passivity-Based High-Fidelity Haptic Rendering of Contact. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 3722-3728 Stability and transparency of force-feedback telemanipulation
systems
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