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AU2001292634A1 - Time domain passivity control of haptic interfaces - Google Patents

Time domain passivity control of haptic interfaces

Info

Publication number
AU2001292634A1
AU2001292634A1 AU2001292634A AU9263401A AU2001292634A1 AU 2001292634 A1 AU2001292634 A1 AU 2001292634A1 AU 2001292634 A AU2001292634 A AU 2001292634A AU 9263401 A AU9263401 A AU 9263401A AU 2001292634 A1 AU2001292634 A1 AU 2001292634A1
Authority
AU
Australia
Prior art keywords
time domain
haptic interfaces
passivity control
domain passivity
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
AU2001292634A
Inventor
Blake Hannaford
Jee-Hwan Ryu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Washington
Original Assignee
University of Washington
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Washington filed Critical University of Washington
Publication of AU2001292634A1 publication Critical patent/AU2001292634A1/en
Abandoned legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B5/00—Anti-hunting arrangements
    • G05B5/01—Anti-hunting arrangements electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40122—Manipulate virtual object, for trajectory planning of real object, haptic display
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40137—Force sensation feedback from simulated tool

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • User Interface Of Digital Computer (AREA)
  • Manipulator (AREA)
AU2001292634A 2000-09-13 2001-09-13 Time domain passivity control of haptic interfaces Abandoned AU2001292634A1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US23213400P 2000-09-13 2000-09-13
US60/232,134 2000-09-13
US29213501P 2001-05-05 2001-05-05
US60/292,135 2001-05-05
PCT/US2001/028558 WO2002023286A1 (en) 2000-09-13 2001-09-13 Time domain passivity control of haptic interfaces

Publications (1)

Publication Number Publication Date
AU2001292634A1 true AU2001292634A1 (en) 2002-03-26

Family

ID=26925711

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2001292634A Abandoned AU2001292634A1 (en) 2000-09-13 2001-09-13 Time domain passivity control of haptic interfaces

Country Status (3)

Country Link
US (1) US7027965B2 (en)
AU (1) AU2001292634A1 (en)
WO (1) WO2002023286A1 (en)

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US20040162637A1 (en) * 2002-07-25 2004-08-19 Yulun Wang Medical tele-robotic system with a master remote station with an arbitrator
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JP3975959B2 (en) * 2003-04-23 2007-09-12 トヨタ自動車株式会社 Robot operation regulating method and apparatus, and robot equipped with the same
US7752544B2 (en) * 2003-11-17 2010-07-06 International Business Machines Corporation Method, system, and apparatus for remote interactions
KR100538351B1 (en) * 2004-04-20 2005-12-21 광주과학기술원 method of stabilizing haptic interface and haptic system thereof
US7720570B2 (en) * 2004-10-01 2010-05-18 Redzone Robotics, Inc. Network architecture for remote robot with interchangeable tools
US8024066B2 (en) * 2005-01-18 2011-09-20 Redzone Robotics, Inc. Autonomous inspector mobile platform
US8170715B1 (en) * 2005-01-25 2012-05-01 Redzone Robotics, Inc. Methods and devices for automated work in pipes based on impedance control
WO2006099596A1 (en) * 2005-03-17 2006-09-21 Massachusetts Institute Of Technology System for and method of motion and force synchronization with time delay reduction in multi-user shared virtual environments
CA2520942C (en) * 2005-09-23 2013-03-19 Queen's University At Kingston Tactile amplification instrument and method of use
KR100688338B1 (en) 2005-09-30 2007-03-02 한국과학기술원 Time-domain passivity control based impact control for legged robot
US8209052B2 (en) * 2006-03-31 2012-06-26 Societe de Commercialisation de Produits de la Recherche Appliquee-Socpra-Sciences et Genie, S.E.C. High performance differential actuator for robotic interaction tasks
US9724165B2 (en) 2006-05-19 2017-08-08 Mako Surgical Corp. System and method for verifying calibration of a surgical device
US20080004749A1 (en) * 2006-06-30 2008-01-03 Honeywell International, Inc. System and method for generating instructions for a robot
WO2008034144A2 (en) * 2006-09-15 2008-03-20 Redzone Robotics, Inc. Manhole modeler
US8013861B2 (en) * 2007-10-31 2011-09-06 International Business Machines Corporation Reducing a display quality of an area in a virtual universe to conserve computing resources
US8127297B2 (en) 2007-10-31 2012-02-28 International Business Machines Corporation Smart virtual objects of a virtual universe independently select display quality adjustment settings to conserve energy consumption of resources supporting the virtual universe
US8214750B2 (en) * 2007-10-31 2012-07-03 International Business Machines Corporation Collapsing areas of a region in a virtual universe to conserve computing resources
US8127235B2 (en) 2007-11-30 2012-02-28 International Business Machines Corporation Automatic increasing of capacity of a virtual space in a virtual world
DE102007062108A1 (en) * 2007-12-21 2009-07-02 Kuka Roboter Gmbh Industrial robots and method for programming an industrial robot
US8199145B2 (en) * 2008-05-06 2012-06-12 International Business Machines Corporation Managing use limitations in a virtual universe resource conservation region
US7996164B2 (en) * 2008-05-06 2011-08-09 International Business Machines Corporation Managing energy usage by devices associated with a virtual universe resource conservation region
US20090281885A1 (en) * 2008-05-08 2009-11-12 International Business Machines Corporation Using virtual environment incentives to reduce real world energy usage
US7873485B2 (en) * 2008-05-08 2011-01-18 International Business Machines Corporation Indicating physical site energy usage through a virtual environment
US9268385B2 (en) 2008-08-20 2016-02-23 International Business Machines Corporation Introducing selective energy efficiency in a virtual environment
PT2352981E (en) * 2008-11-03 2015-08-27 Redzone Robotics Inc Device for pipe inspection and method of using same
KR100968944B1 (en) * 2009-12-14 2010-07-14 (주) 아이알로봇 Apparatus and method for synchronizing robot
DE102011083347B4 (en) * 2011-09-23 2015-08-20 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method for controlling a redundant robot system
DE102011114116B4 (en) 2011-09-25 2014-05-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Control network and process for passivation of a control network
KR101314792B1 (en) * 2011-10-10 2013-10-08 광주과학기술원 Method and Device for Controlling Haptic Interface
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DE102014004115B3 (en) * 2014-03-24 2015-05-13 Deutsches Zentrum für Luft- und Raumfahrt e.V. Control network with a haptic input device
US10350766B2 (en) * 2015-09-21 2019-07-16 GM Global Technology Operations LLC Extended-reach assist device for performing assembly tasks
US10531929B2 (en) * 2016-08-16 2020-01-14 Ethicon Llc Control of robotic arm motion based on sensed load on cutting tool
US10390895B2 (en) 2016-08-16 2019-08-27 Ethicon Llc Control of advancement rate and application force based on measured forces
JP2018075672A (en) * 2016-11-10 2018-05-17 セイコーエプソン株式会社 Control device, robot, and robot system
CN110753957B (en) 2017-04-17 2022-05-13 元平台公司 Haptic communication system using skin actuators to simulate continuous human touch
US10362299B1 (en) * 2017-08-28 2019-07-23 Disney Enterprises, Inc. System for introducing physical experiences into virtual reality (VR) worlds
US10675766B1 (en) 2017-08-28 2020-06-09 Disney Enterprises, Inc. System for introducing physical experiences into virtual reality (VR) worlds
US11559898B2 (en) 2017-10-06 2023-01-24 Moog Inc. Teleoperation system, method, apparatus, and computer-readable medium
DE102020104364B3 (en) * 2020-02-19 2021-05-27 Franka Emika Gmbh Control of a robot manipulator when it comes into contact with a person
US11305424B2 (en) * 2020-05-22 2022-04-19 Honda Motor Co., Ltd. Generalized admittance control for robotic manipulators
CN113721526A (en) * 2021-09-01 2021-11-30 哈尔滨理工大学 Remote operation control method of hexapod robot applied to time delay changing condition
CN114770511B (en) * 2022-05-09 2023-06-23 上海傅利叶智能科技有限公司 Robot control method and device based on physical touch sense and robot
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Also Published As

Publication number Publication date
WO2002023286A9 (en) 2002-08-22
US20020062177A1 (en) 2002-05-23
WO2002023286A1 (en) 2002-03-21
US7027965B2 (en) 2006-04-11

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