Current closed loop control for increasing virtual stiffness in haptic interaction

Dai Xiaowei; Zhang Yuru; Cao Yonggang; Wang Dangxiao

doi:10.1109/MESA.2008.4735658

Current closed loop control for increasing virtual stiffness in haptic interaction

Dai Xiaowei^*
, Zhang Yuru
, Cao Yonggang
, Wang Dangxiao

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Virtual stiffness is a critical performance measure for haptic devices. This paper proposes a new controller to increase the virtual stiffness. The design of the controller is based on theoretical analysis of the system stability condition, which indicates that by adding a current closed loop the stability can be increased. We implemented the current closed loop controller with a first order filter and a PID control law. With properly selected parameters of the filter and the PID controller, it is possible to increase the maximum achievable virtual stiffness. Experimental results demonstrate the effectiveness of the proposed method.

Original language	English
Title of host publication	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
Pages	432-436
Number of pages	5
DOIs	https://doi.org/10.1109/MESA.2008.4735658
State	Published - 2008
Event	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 - Beijing, China Duration: 12 Dec 2008 → 15 Dec 2008

Publication series

Name	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008

Conference

Conference	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
Country/Territory	China
City	Beijing
Period	12/12/08 → 15/12/08

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10.1109/MESA.2008.4735658

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Xiaowei, D., Yuru, Z., Yonggang, C., & Dangxiao, W. (2008). Current closed loop control for increasing virtual stiffness in haptic interaction. In 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 (pp. 432-436). Article 4735658 (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008). https://doi.org/10.1109/MESA.2008.4735658

@inproceedings{33ece65a7296489780fa636c67bf3ebd,

title = "Current closed loop control for increasing virtual stiffness in haptic interaction",

abstract = "Virtual stiffness is a critical performance measure for haptic devices. This paper proposes a new controller to increase the virtual stiffness. The design of the controller is based on theoretical analysis of the system stability condition, which indicates that by adding a current closed loop the stability can be increased. We implemented the current closed loop controller with a first order filter and a PID control law. With properly selected parameters of the filter and the PID controller, it is possible to increase the maximum achievable virtual stiffness. Experimental results demonstrate the effectiveness of the proposed method.",

author = "Dai Xiaowei and Zhang Yuru and Cao Yonggang and Wang Dangxiao",

year = "2008",

doi = "10.1109/MESA.2008.4735658",

language = "英语",

isbn = "9781424423682",

series = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008",

pages = "432--436",

booktitle = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008",

note = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 ; Conference date: 12-12-2008 Through 15-12-2008",

}

Xiaowei, D, Yuru, Z, Yonggang, C & Dangxiao, W 2008, Current closed loop control for increasing virtual stiffness in haptic interaction. in 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008., 4735658, 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008, pp. 432-436, 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008, Beijing, China, 12/12/08. https://doi.org/10.1109/MESA.2008.4735658

Current closed loop control for increasing virtual stiffness in haptic interaction. / Xiaowei, Dai; Yuru, Zhang; Yonggang, Cao et al.
2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008. 2008. p. 432-436 4735658 (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Current closed loop control for increasing virtual stiffness in haptic interaction

AU - Xiaowei, Dai

AU - Yuru, Zhang

AU - Yonggang, Cao

AU - Dangxiao, Wang

PY - 2008

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N2 - Virtual stiffness is a critical performance measure for haptic devices. This paper proposes a new controller to increase the virtual stiffness. The design of the controller is based on theoretical analysis of the system stability condition, which indicates that by adding a current closed loop the stability can be increased. We implemented the current closed loop controller with a first order filter and a PID control law. With properly selected parameters of the filter and the PID controller, it is possible to increase the maximum achievable virtual stiffness. Experimental results demonstrate the effectiveness of the proposed method.

AB - Virtual stiffness is a critical performance measure for haptic devices. This paper proposes a new controller to increase the virtual stiffness. The design of the controller is based on theoretical analysis of the system stability condition, which indicates that by adding a current closed loop the stability can be increased. We implemented the current closed loop controller with a first order filter and a PID control law. With properly selected parameters of the filter and the PID controller, it is possible to increase the maximum achievable virtual stiffness. Experimental results demonstrate the effectiveness of the proposed method.

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DO - 10.1109/MESA.2008.4735658

M3 - 会议稿件

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SN - 9781424423682

T3 - 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008

SP - 432

EP - 436

BT - 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008

T2 - 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008

Y2 - 12 December 2008 through 15 December 2008

ER -

Xiaowei D, Yuru Z, Yonggang C, Dangxiao W. Current closed loop control for increasing virtual stiffness in haptic interaction. In 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008. 2008. p. 432-436. 4735658. (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008). doi: 10.1109/MESA.2008.4735658

Current closed loop control for increasing virtual stiffness in haptic interaction

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