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Author Lee, Dongjun ♦ Huang, Ke
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Local Servo-loop Rate ♦ Passive Set-position Modulation Approach ♦ Servo-loop Tuning ♦ Novel Control Framework ♦ Haptic Device ♦ Asynchronous Update ♦ Virtual World Simulation Design ♦ Relevant Experimental Result ♦ Information Transmission Update ♦ Virtual World ♦ Variable Asynchronous Haptics ♦ Discrete-time Passive Non-iterative Integrator ♦ Information Update ♦ Variable Rate ♦ Following Problem ♦ Slow Variable ♦ Passive Set-position Modulation
Description in Proc. HAPTICS
We consider the following problem in haptics: information update from the virtual world is slow w.r.t. the local servo-loop rate of the haptic device, and the information transmission/update between the haptic device and the virtual world is of variable rate and/or asyn-chronous. For this, we propose a novel control framework, that, by relying on our recently proposed passive set-position modulation (PSPM) and discrete-time passive non-iterative integrators, enables us to enforce two-port hybrid (i.e. continuous-discrete) passivity for such slow and variable/asynchronous haptics as well as to separate the virtual world simulation design from the device’s servo-loop tuning. Relevant experimental results are also presented. 1
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2009-01-01