http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
류제하,김재하,서창훈,김종필 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
This paper presents a multiple degree-of-freedom (DOF) energy bounding approach (EBA) for enhancing directional transparency while concurrently guaranteeing stability during multi-DOF haptic interactions. It was observed that the passivity condition for multiple ports may lead to oscillatory limit cycle behavior in some coordinate directions even though the total sum of energy flow-in is positive, meaning that the system is passive. The passivity condition, therefore, needs to be applied to each coordinate in order to avoid oscillatory behavior by ensuring that each energy flow-in is always positive. The EBA is applied to guarantee passivity. For multi-DOF haptic interaction, however, the EBA in each coordinate may distort the direction of the rendered force vector since the EBA may re-duce the magnitude of the rendered force and torque vectors. To resolve this problem, a simple projec-tion method is subsequently proposed. The validity of the proposed algorithm is then experimentally confirmed, and a comparative study with previous research is presented.
류제하,박상수,Riaz Uddin 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.3
The ultimate objective of this study is to produce an interaction system haptically transparent to thehuman operator while guaranteeing interaction stability. In delayed haptic interaction systems (HIS) such as thebilateral teleoperation system (TS) and networked haptic virtual environments (NHVE), time delay over networksis a major cause of instability and transparency degradation. It has been proved that the passivity based energyboundingapproach (EBA) can guarantee robust stable interaction of the delayed HIS. However, transparency ofthe EBA has not been fully addressed, especially in terms of environment stiffness. This paper analyzes EBAtransparency for the delayed HIS followed by experimental validation. This study demonstrates that the EBA in thedelayed HIS can transparently display the environment stiffness regardless of the time delay by setting the secondcontrol parameter in the EBA to the environment stiffness value if the environment stiffness is less than the stabledisplayable stiffness by the EBA. For a very short period of initial contact with the very stiff environments, thestable displayable impedance range of the EBA can also be significantly increased by using the time-varying firstcontrol parameter. Experimental results show the effectiveness of the proposed approach.