The control C 1 \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$C_{1}$$\end{document} in Chap. 3 limits the change rate, k ˙ dis \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\dot{k}_{{{\text{dis}}}}$$\end{document}, and the maximum value of k dis \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$k_{{{\text{dis}}}}$$\end{document} to satisfy the ISS criteria for stability. This chapter presents a complementary compensation method for rendering of increased stiffness and transparency. The compensation is designed to reduce the discretization effect. The compensation expands the ISS-satisfying region by reducing the negative damping and spring caused by the ZOH and sampler. A control C 2 \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$C_{2}$$\end{document} is designed to satisfy the ISS criteria by bounding the k ˙ dis t \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\dot{k}_{{{\text{dis}}}} \left( t \right)$$\end{document}. The C 2 \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$C_{2}$$\end{document} ensures the stability, but does not limit the maximum value of k dis \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$k_{{{\text{dis}}}}$$\end{document}. Experiments with nonlinear environments are shown to compare the haptic rendering performance with the previous methods.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Transparency of Haptic Systems


    Weitere Titelangaben:

    KAIST Research Series


    Beteiligte:
    Kim, Suyong (Autor:in) / Lee, Doo Yong (Autor:in)


    Erscheinungsdatum :

    2024-02-01


    Format / Umfang :

    37 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Control of Haptic Systems

    Kim, Suyong / Lee, Doo Yong | Springer Verlag | 2024


    HAPTIC BRAIN, HAPTIC BRAND

    Dejan, Daniel | British Library Online Contents | 2016


    Introduction to Haptic Systems

    Kim, Suyong / Lee, Doo Yong | Springer Verlag | 2024


    Haptic Systems under Time Delay

    Kim, Suyong / Lee, Doo Yong | Springer Verlag | 2024