NDLI: Stabilization Through Gyration: A Wave Variable Approach to High Frequency Force Feedback in Telerobotics

Content Provider	IEEE Xplore Digital Library
Author	Tanner, N.A. Niemeyer, G.
Copyright Year	2006
Description	Author affiliation: Telerobotics Lab, Stanford University, email: tanner@stanford.edu (Tanner, N.A.)
Abstract	High frequency force feedback to a user is commonly recognized as vital to achieving a realistic telerobotic experience. However, the feedback of measured forces can trigger contact instabilities when interacting with stiff environments. We present a novel feedback approach based on wave variable design, taking advantage of two wave features. First, stability is independent of lag or filtering. Secondly, wave signals inherently describe power flow, thus connecting stability to signal conditioning. The resulting force feedback architecture combines the best of the traditional position-position and position-force methods with an additional element typically not seen in telerobotic controllers – a gyrator. It is stable regardless of the environment stiffness, transmits high frequency forces without roll-off, and is even tolerant to delay. We verify this performance with simple experimental tests, investigate the effects of the gyrator, and show that it plays a critical role in maintaining such robust stability.
Starting Page	153
Ending Page	159
File Size	346979
Page Count	7
File Format	PDF
ISBN	1424402263
DOI	10.1109/HAPTIC.2006.1627088
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-03-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Frequency Force feedback Telerobotics Stability Gyrators Force measurement Filtering Load flow Joining processes Force control human perception teleoperation wave variables gyrator force sensor passivity
Content Type	Text
Resource Type	Article

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