Haptic Systems 530 655 Mohsen Mahvash Lecture 13

Haptic Systems 530 -655 Mohsen Mahvash Lecture 13 26/1/06 1

Methods to stabilize haptic interactions with virtual environments Ø An overview of the last lecture Ø Virtual coupling Ø Passivity controller Ø Multi-rate multi-model implementation Ø References 2

An overview of the last lecture Device Virtual Wall 3

Virtual couple Example Virtual Wall Virtual Couple Virtual Wall 4

Calculating energy leak Virtual Wall Is my program able to calculate energy leak? absorbed energy by a virtual wall 5

Passivity controller Virtual Wall NO Virtual Wall+ Passivity Controller 6

Multi-rate multi-model rendering Very high rate implementation No energy leak at the moment of model switch low rate switch high rate rendering 7

Passive switching NO Yes Virtual Wall 8

References 1. 2. 3. 4. . J. E. Colgate and G. G. Schenkel, “Passivity of a class of sampled-data systems: Application to haptic interfaces, ” J. Robot. Syst. , vol. 14, no. 1, pp. 37– 47, 1997. B. Hannaford and J. -H. Ryu, “Stable haptic interaction with virtual environments, ” in IEEE Trans. Robot. Autom. , vol. 18, Feb. 2002, pp. 1– 10. M. Mahvash and V. Hayward, “High-fidelity passive force-reflecting virtual environments, ” IEEE Trans. Robot. , vol. 21, no. 1, pp. 38– 46, Feb. 2005. Mahvash, M. , Hayward, V. 2003 a. Passivity-Based High-Fidelity Haptic Rendering of Contact. Proc. IEEE Int. Conf. on Robotics and Automation. pp. 3722 -3728 Tomorrow Stability and transparency of force-feedback telemanipulation systems 9