| Description |
1 online resource (149 p.) |
| Series |
KAIST Research Series |
|
KAIST research series.
|
| Contents |
Intro -- Preface -- Contents -- About the Authors -- 1 Introduction to Haptic Systems -- 1.1 What Is a Haptic System? -- 1.2 Models of Haptic Systems -- References -- 2 Control of Haptic Systems -- 2.1 Trade-Off Relation between Stability and Transparency -- 2.2 Unconditional Stability -- 2.3 Passivity -- 2.3.1 Analytical Passivity Condition -- 2.3.2 Time-domain Passivity Approach -- 2.4 Uncoupled Stability -- 2.5 Control Design To Enhance the Performance -- 2.5.1 Frequency-Domain Stability Observer and Controller -- 2.5.2 Successive Force Augmentation Approach |
|
2.5.3 Input-Output Coupling Method -- 2.5.4 Controller Considering the Human Impedance -- References -- 3 Input-to-State Stability (ISS) and Haptic Control -- 3.1 Model of the Experimented Haptic Systems -- 3.2 Stability Analysis -- 3.3 Control Design -- 3.4 Experiment Examples -- 3.4.1 Experiment with Hunt-Crossley Model -- 3.4.2 Experiment with Multi-Layered Environment -- References -- 4 Transparency of Haptic Systems -- 4.1 Compensation for Reduction of the Discretization Effect -- 4.2 Analysis of the z-Width -- 4.3 System Model with the Compensation |
|
4.4 ISS Analysis of the System with the Compensation -- 4.5 Control for Improved Performance -- 4.6 Experiment Examples -- 4.6.1 Example with Hunt-Crossley Model -- 4.6.2 Example with Multi-Layered Environment -- References -- 5 Haptic Systems under Time Delay -- 5.1 Introduction -- 5.2 Passivity-Based Control Methods -- 5.2.1 Wave Variable Approach -- 5.2.2 Time-Domain Passivity Approach -- 5.3 Model-Augmented Methods -- 5.4 Stabilization Using the ISS-Based Control -- 5.5 Transparency Improvement of the ISS-Based Control -- 5.6 Comparative Experiments -- References -- Glossary -- Index |
| Summary |
This book aims at the upper-class undergraduate and the graduate students, and practicing engineers in the disciplines of mechanical, electrical, and computer engineering, with background knowledge of control. This book, first, explains the components of the haptic systems that are gaining popularity in the virtual reality simulations, the metaverse applications, as well as the remotely operated robotic systems. Next, the book introduces the previous and current widely-adopted methods for modeling and control of the haptic systems. The important metrics of performance such as stability and transparency of the haptic systems are explained and analyzed. Shortcomings of the current methods are discussed using these metrics. The book, then, explains the theories on the input-to-state stability (ISS), and shows how to formulate the control of haptic systems into the ISS framework. Step by step process of control design using the formulation is detailed, and better results are shown with experiment examples. The book develops further the presented approach to secure improved performance under selected issues. For example, better transparency of the haptic rendering, and handling of constant or time-varying time delay present in the haptic control systems |
| Bibliography |
Includes bibliographical references and index |
| Notes |
Online resource; title from PDF title page (SpringerLink, viewed February 14, 2024) |
| Subject |
Haptic devices -- Control
|
| Genre/Form |
Electronic books
|
| Form |
Electronic book
|
| Author |
Lee, Doo Yong
|
| ISBN |
9789819985982 |
|
9819985986 |
|
