UWEE Tech Report Series

Testing Time Domain Passivity Control of Haptic Enabled Systems


Blake Hannaford, Jee-Hwan Ryu, Dong-Soo Kwon (Dept. of Mechanical Engineering KAIST Taejon South Korea), Yoon Sang Kim, Jae-Bok Song (Dept. of Mechanical Engineering Korea University Seoul South Korea)

haptic interfaces, stability, control, teleoperation


Much recent work has studied the means of achieving stable yet high performance control of haptic interfaces. Such interfaces provide compelling force feedback in virtual reality simulations for medical training, advanced computer aided design (CAD), entertainment, and other applications. This paper reports experimental testing of a new method of stable haptic interface control, the Passivity Observer (PO) and Passivity Controller (PC). Experimental results from three different laboratories confirm basic operation of the PO/PC. The PO/PC method is applied to high stiffness haptic interaction, to a 2-degree-of-freedom (DOF) system with coupled kinematics and dynamics, and to a bi-lateral telemanipulation system controlling metal-to-metal contact. \noindent (An abridged version of this report will be published in Proceedings of the International Symposium on Experimental Robotics 2002 (ISER-02), {\it Experimental Robotics 2002}, B. Siciliano and P. Dario eds. {\it Series in Advanced Robotics,} Springer Verlag.)

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