The Community for Technology Leaders
RSS Icon
Subscribe
Issue No.01 - January-March (2009 vol.2)
pp: 2-14
Amin Abdossalami , Quanser Consulting Inc., Markham
Shahin Sirouspour , McMaster University, Hamilton
ABSTRACT
Two adaptive nonlinear controllers are proposed for the coupling of haptic devices with impedance-type and admittance-type virtual environments, respectively. Rigid contacts in admittance-type environments are modeled either as a stiff spring or a constraint on the haptic device motion. Both controllers employ user position and force measurements to replace the natural dynamics of the haptic interface with that of an adjustable mass-damper tool. The transparency and stability of the resulting systems are investigated using a Lyapunov analysis and by taking into account uncertain nonlinear dynamics for the haptic device, and uncertain mass-spring-damper type dynamics for the user and virtual environment. It is shown analytically that low-pass filtering of selected terms in the control signal can significantly reduce a stability related lower bound on the achievable synthesized mass of the haptic interface in a discrete-time implementation of the controllers. An optimization problem is formulated and solved to balance impedance reduction against noise amplification in choosing the filter gain and bandwidth. The proposed controllers as well as a conventional penalty-based method are compared in a set of experiments. The results indicate that the controller with an admittance-type constraint-based rigid environment has far superior performance in terms of the range of impedances that it can stably display to the user.
INDEX TERMS
Haptic Interface Control, Adaptive Control, Transparency
CITATION
Amin Abdossalami, Shahin Sirouspour, "Adaptive Control for Improved Transparency in Haptic Simulations", IEEE Transactions on Haptics, vol.2, no. 1, pp. 2-14, January-March 2009, doi:10.1109/TOH.2008.18
REFERENCES
[1] J.E. Colgate, M.C. Stanley, and J.M. Brown, “Issues in the Haptic Display of Tool Use,” Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS '95), pp. 140-145, 1995.
[2] T. Massie and J.K. Salisbury, “Phantom Haptic Interface: A Device for Probing Virtual Objects,” Proc. ASME IMECE Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 295-299, 1994.
[3] S. Sirouspour, S.P. DiMaio, S.E. Salcudean, P. Abolmaesumi, and C. Jones, “Haptic Interface Control-Design Issues and Experiments with a Planar Device,” Proc. IEEE Int'l Conf. Robotics and Automation (ICRA '00), vol. 1, pp. 789-794, 2000.
[4] E.L. Faulring, J.E. Colgate, and M.A. Peshkin, “The Cobotic Hand Controller: Design, Control and Performance of a Novel Haptic Display,” Int'l J. Robotics Research, vol. 25, no. 11, pp. 1099-1119, Nov. 2006.
[5] R.Q. van der Linde and P. Lammertse, “Hapticmaster—A Generic Force Controlled Robot for Human Interaction,” Industrial Robot: An Int'l J., vol. 30, no. 6, pp. 515-524, 2003.
[6] N. Hogan, “Impedance Control: An Approach to Manipulation, Part I—Theory, Part II—Implementation, Part III—Applications,” J. Dynamic Systems, Measurement, and Control, vol. 107, no. 1, pp.1-7, Mar. 1985.
[7] C.R. Carignan and K.R. Cleary, “Closed-Loop Control for Haptic Simulation of Virtual Environments,” Haptics-e, The Electronic J. Haptics Research, vol. 2, no. 2, pp. 1-14, http:/www.haptics-e.org, Feb. 2000.
[8] J.J. Gil and E. Sánchez, “Control Algorithms for Haptic Interaction and Modifying the Dynamical Behavior of the Interface,” Proc. Second Int'l Conf. Enactive Interfaces (ENACTIVE'05), Nov. 2005.
[9] M. Ueberle and M. Buss, “Control of Kinesthetic Haptic Interfaces,” Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS '04) Workshop Touch and Haptics, 2004.
[10] D.W. Weir, J.E. Colgate, and M.A. Peshkin, “Measuring and Increasing $Z$ -Width with Active Electrical Damping,” Proc. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 169-175, Mar. 2008.
[11] J.J. Abbott and A.M. Okamura, “Effects of Position Quantization and Sampling Rate on Virtual-Wall Passivity,” IEEE Trans. Robotics, vol. 21, no. 5, pp.952-964, Oct. 2005.
[12] N. Diolaiti, G. Niemeyer, F. Barbagli, and J.K. Salisbury, “Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects,” IEEE Trans. Robotics, vol. 22, no. 2, pp. 256-268, Apr. 2006.
[13] J.E. Colgate and G.G. Schenkel, “Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces,” J. Robotic Systems, vol. 14, no. 1, pp. 37-47, Jan. 1997.
[14] R.J. Adams and B. Hannaford, “Control Law Design for Haptic Interfaces to Virtual Reality,” IEEE Trans. Control Systems Technology, vol. 10, no. 1, pp. 3-13, Jan. 2002.
[15] B. Hannaford and J.H. Ryu, “Time-Domain Passivity Control of Haptic Interfaces,” IEEE Trans. Robotics and Automation, vol. 18, no. 1, pp. 1-10, Feb. 2002.
[16] J.P. Kim and J. Ryu, “Stable Haptic Interaction Control Using Energy Bounding Algorithm,” Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS '04), pp. 351-357, Oct. 2004.
[17] N. Diolaiti, G. Niemeyer, and N.A. Tanner, “Wave Haptics: Building Stiff Controllers from the Natural Motor Dynamics,” Int'l J. Robotics Research, vol. 26, no. 1, pp. 5-21, Jan. 2007.
[18] A. Gosline and V. Hayward, “Time-Domain Passivity Control of Haptic Interfaces with Tunable Damping Hardware,” Proc. Second Joint EuroHaptics Conf. and Symp. Haptic Interfaces for Virtual Environment and Teleoperator System (World Haptics '07), pp. 164-179, 2007.
[19] T.L. Brooks, “Telerobotic Response Requirements,” Proc. IEEE Int'l Conf. Systems, Man and Cybernetics, pp. 113-120, 1990.
[20] K.J. Kuchenbecker, J. Fiene, and G. Niemeyer, “Improving Contact Realism through Event-Based Haptic Feedback,” IEEE Trans. Visualization and Computer Graphics, vol. 12, no. 2, pp. 219-230, Apr. 2006.
[21] S.E. Salcudean and T.D. Vlaar, “On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input/Output Device,” The ASME J. Dynamic Systems, Measurement, and Control, vol. 119, no. 1, pp. 127-132, Nov. 1997.
[22] M. Zinn, O. Khatib, B. Roth, and J.K. Salisbury, “Large Workspace Haptic Devices—A New Actuation Approach,” Proc. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 185-192, Mar. 2008.
[23] A.L. Barrow and W.S. Harwin, “High Bandwidth, Large Workspace Haptic Interaction: Flying Phantoms,” Proc. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 295-302, Mar. 2008.
[24] A. Abdossalami and S. Sirouspour, “Adaptive Control of Haptic Interaction with Impedance and Admittance Type Virtual Environments,” Proc. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 145-152, Mar. 2008.
[25] P. Malysz and S. Sirouspour, “Stable Non-Linear Force/Position Mapping for Enhanced Telemanipulation of Soft Environments,” Proc. IEEE Int'l Conf. Robotics and Automation (ICRA '07), pp. 4307-4312, 2007.
[26] F.L. Lewis, D.M. Dawson, and C.T. Abdallah, Robot Manipulator Control: Theory and Practice, second ed. CRC Press, 2003.
[27] J.J.E. Slotine and W. Li, Applied Nonlinear Control. Prentice Hall, 1991.
[28] W.H. Zhu and S.E. Salcudean, “Stability Guaranteed Teleoperation: An Adaptive Motion/Force Control Approach,” IEEE Trans. Automatic Control, vol. 45, no. 11, pp. 1951-1969, Nov. 2000.
[29] A. van der Schaft, L2-Gain and Passivity Techniques in Nonlinear Control, second ed. Springer, 2000.
[30] H. Qian and J.D. Schutter, “Stabilizing Robot Force Control through Low Pass Filtering with Low Cut-Off Frequency,” Proc. 31st IEEE Conf. Decision and Control (CDC '92), pp. 1893-1896, 1992.
42 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool