Frequency Domain Stability Observer and Active Damping Control for Stable Haptic Interaction

  title={Frequency Domain Stability Observer and Active Damping Control for Stable Haptic Interaction},
  author={Dongseok Ryu and Jae-Bok Song and Junho Choi and Sungchul Kang and Munsang Kim},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
Stable haptic interaction has been studied extensively by an energy-based approach. However, the energy in the haptic system is not directly measurable, but estimated from some measured quantities such as force and velocity; therefore, the estimated energy is occasionally inaccurate. To resolve this problem, a new observer, working in the frequency domain, is proposed in this research. The observer quantifies the degree of instability of a haptic system, and a proposed controller generates… CONTINUE READING
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