Hi all,
I am trying to simulate the experiments in the paper " time domain passivity control of haptic interface", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18,No1
about the simulation in Fig.8 and its results are fig.9 and fig.10. I dont know an exact model of fig.9 which I can draw again in Matlab simulink to run. I tried drawing spring and damper as in fig.6 of the same paper, but I dont know which is my input ( force, velocity of position) and also the type of signal of input (sine, step,...) to get a similar result as the paper.
Hello Son,
The paper written by Hanaford proposes a non-model-based passivation technique using passivity observers and passivity controllers. That's why you don't see any specific model in the paper. The basic idea behind the method is to keep track of energy exchange of any component in the system from the input-output ports (not using the internal dynamic model) and detect when they are about to violate a passivity condition which might result in the instability of the system. Then a dissipation element is activated to dissipate the extra energy. These might sound really abstract but provide a useful and practical technique in guaranteeing stability. Generally, the input to this device is force (and sometimes torque depending on the DoF of device) and the output can be velocity of the end points or joints of the haptic device or the positions based on the application. If you are looking for just a model of the haptic device, I would suggest taking a look at the following three papers:
A generic nonlinear model of the haptic device with some simplified linear cases can be found in
1- Lee D, Xu D. Feedback r-passivity of lagrangian systems for mobile robot teleoperation. InRobotics and Automation (ICRA), 2011 IEEE International Conference on 2011 May 9 (pp. 2118-2123). IEEE.
A more complex example of the internal dynamics of haptic devices is in the following paper which involves nonlinear dynamics and low-level control
2- Shah A, Teuscher S, McClain E, Abbott J. How to build an inexpensive 5-dof haptic device using two Novint Falcons. Haptics: Generating and perceiving tangible sensations. 2010:136-43.
If you want to get a comprehensive view about both low-level and high-level aspects of haptic interfaces including causalities and input-outputs, I would suggest the following paper which I learned a lot from it
3- Hayward V, MacLean KE. Do it yourself haptics: part I. IEEE Robotics & Automation Magazine. 2007 Dec;14(4).
I hope these references and explanations help.
Best
Hamed
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