アクチュエータ制約下でのハプティックインターフェースのための最適優先散逸と閉形式ダンピング制限
Optimal Prioritized Dissipation and Closed-Form Damping Limitation under Actuator Constraints for Haptic Interfaces
ハプティックインターフェースの安定性を保証しつつ透明性を最大化するため、アクチュエータの電力制約を考慮した優先散逸に基づく新しいダンピング制限法を提案し、実験で検証した。
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著者: Camilla Celli, Andrea Bini, Valerio Novelli, Alessandro Filippeschi, Francesco Porcini, Antonio Frisoli
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In haptics, guaranteeing stability is essential to ensure safe interaction with remote or virtual environments. One of the most relevant methods at the state-of-the-art is the Time Domain Passivity Approach (TDPA). However, its high conservatism leads to a significant degradation of transparency. Moreover, the stabilizing action may conflict with the device's physical limitations. State-of-the-art solutions have attempted to address these actuator limits, but they still fail to account simultaneously for the power limits of each actuator while maximizing transparency. This work proposes a new damping limitation method based on prioritized dissipation actions. It prioritizes an optimal dissipation direction that minimizes actuator load, while any excess dissipation is allocated to the orthogonal hyperplane. The solution provides a closed-form formulation and is robust in multi-DoF scenarios, even in the presence of actuator and motion anisotropies. The method is experimentally validated using a parallel haptic interface interacting with a virtual environment and tested under different operating conditions.
