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Haptic Systems 530-655

Haptic Systems 530-655. Mohsen Mahvash Lecture 11 24/1/06. Stability of Haptic Systems. An overview of classic control Control problems in haptic systems Passivity theory References. An overview of classic control systems. Performance factors Rise time Gain margin and Phase margin

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Haptic Systems 530-655

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  1. Haptic Systems530-655 Mohsen Mahvash Lecture 11 24/1/06

  2. Stability of Haptic Systems • An overview of classic control • Control problems in haptic systems • Passivity theory • References

  3. An overview of classic control systems Performance factors Rise time Gain margin and Phase margin Bandwidth Steady state error Control objectives Control tools Root locus Nyquist diagram Bode diagram Minimum rise time Minimum overshoot Stability

  4. Haptic rendering systems Plan: Robot + Human user Controller: Virtual environment + Compensator Control objectives Control tools Analytical tool Passivity Theory Performance factors ? Stability Transparency Do not look at the control problem in haptic systems as a classic control problem

  5. Haptic system for a virtual wall Operator: uncertain model Passivity theory Nonlinear control theory Virtual wall : Nonlinear model

  6. Comparing a physical wall and a virtual wall Interaction with a physical wall Interaction with a virtual wall There is no oscillation The wall does not generate energy The wall is passive There might be oscillation The wall may generate energy The wall can be active

  7. Passivity condition Interaction with a physical wall

  8. Passive system properties Passivity and stability A passivie system is stable

  9. Components of a haptic system

  10. Passivity of a Virtual Wall

  11. References: Tomorrow Effects of  time-discritization and  position quantization on the stability of haptic systems Jean-Jacques Slotine, Weiping Li , Applied Nonlinear Control Englewood Cliffs, N.J. : Prentice Hall, c1991.

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