Controlling two haptically-coupled devices: System modeling and stability analysis
作者： Jorge Juan Gil , Pablo Ciáurriz , Iñaki Díaz
DOI: 10.1016/J.MECHATRONICS.2017.12.010
关键词: Normal mode 、 System dynamics 、 Systems modeling 、 Haptic technology 、 Human operator 、 Simulation 、 Driving simulation 、 Electrical impedance 、 Stability (probability) 、 Computer science
摘要: Abstract This paper deals with the stability analysis of two haptically-coupled devices. It describes how to model this kind systems and shows obtain stable linking impedances. The approach is applied an experimental setup that consists a bimanual driving system in which both devices are haptically coupled. Four different cases depending on dynamics considered: 1) identical rigid devices, 2) 3) vibration modes, 4) mechanically-linked modes. theoretical validated experiments carried out simulation platform. influence human operator also experimentally discussed. Results can be extended other applications where haptic used hold virtual objects.
sci-hub.se 参考文章(27)
J. Edward Colgate, J. Michael Brown, Passive implementation of multibody simulations for haptic display Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition. ,(1998)
Matteo Corno, Design, Analysis, and Validation of a Haptic-Based Driver Support System for Traction Control IEEE Transactions on Intelligent Transportation Systems. ,vol. 14, pp. 1849- 1859 ,(2013) , 10.1109/TITS.2013.2268316
Pablo Garcia-Robledo, Javier Ortego, Manuel Ferre, Jorge Barrio, Miguel A. Sanchez-Uran, Segmentation of Bimanual Virtual Object Manipulation Tasks Using Multifinger Haptic Interfaces IEEE Transactions on Instrumentation and Measurement. ,vol. 60, pp. 69- 80 ,(2011) , 10.1109/TIM.2010.2065690
Ali Jazayeri, Mahdi Tavakoli, Absolute Stability Analysis of Sampled-Data Scaled Bilateral Teleoperation Systems Control Engineering Practice. ,vol. 21, pp. 1053- 1064 ,(2013) , 10.1016/J.CONENGPRAC.2013.04.002
Seung-Ju Lee, Hyo-Sung Ahn, Controller designs for bilateral teleoperation with input saturation Control Engineering Practice. ,vol. 33, pp. 35- 47 ,(2014) , 10.1016/J.CONENGPRAC.2014.09.002
M. Bertoluzzo, P. Bolognesi, O. Bruno, G. Buja, A. Landi, A. Zuccollo, Drive-by-wire systems for ground vehicles international symposium on industrial electronics. ,vol. 1, pp. 711- 716 ,(2004) , 10.1109/ISIE.2004.1571893
R.P.G. Collinson, Fly-by-wire flight control Computing & Control Engineering Journal. ,vol. 10, pp. 141- 152 ,(1999) , 10.1049/CCE:19990403
Mahyar Fotoohi, Shahin Sirouspour, David Capson, Stability and Performance Analysis of Centralized and Distributed Multi-rate Control Architectures for Multi-user Haptic Interaction The International Journal of Robotics Research. ,vol. 26, pp. 977- 994 ,(2007) , 10.1177/0278364907082049
J J Gil, M J Puerto, I Diaz, E Sanchez, On the Z-width limitation due to the vibration modes of haptic interfaces intelligent robots and systems. pp. 5054- 5059 ,(2010) , 10.1109/IROS.2010.5650475
Jorge Juan Gil, Iñaki Díaz, Pablo Ciáurriz, Mikel Echeverría, New driving control system with haptic feedback: Design and preliminary validation tests Transportation Research Part C-emerging Technologies. ,vol. 33, pp. 22- 36 ,(2013) , 10.1016/J.TRC.2013.04.004