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Optimal posture control algorithm to improve the stability of redundant haptic devices
Date
2013-5-9
Author
Baser, Ozgur
Konukseven, Erhan İlhan
Metadata
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Stability is indispensable to haptic interfaces for the simulation of a large variety of virtual environments. On a multi-degree of freedom (multi-DOF) haptic device, the passivity condition must be satisfied in both end-effector and joint space to achieve stable interaction. In this study, a conservative passivity condition is utilized for the stability such that guaranteeing the passivity at all joints is a sufficient condition for the passivity and then stability of the whole haptic system. An optimal posture control algorithm is developed to satisfy this passivity condition and maximize the stability performance of a redundant haptic device. The algorithm optimally adjusts the device postures, which are estimated by a Golden Section Search algorithm. The proposed control algorithm was experimentally implemented on a virtual sphere by using a 7-DOF redundant haptic device. Z-width stability metric was used to evaluate the performance of the proposed algorithm. The results show that the optimal posture control approach significantly improves the stability of the redundant haptic devices.
Subject Keywords
Redundant haptic device
,
Optimal posture control
,
Stability
,
Passivity condition
,
Z-width; transparency
URI
https://hdl.handle.net/11511/28525
Journal
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
DOI
https://doi.org/10.1177/0954406213489067
Collections
Department of Mechanical Engineering, Article
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O. Baser and E. İ. Konukseven, “Optimal posture control algorithm to improve the stability of redundant haptic devices,”
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
, pp. 599–610, 2013, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/28525.