Passive-Set-Position-Modulation Framework for Interactive Robotic Systems
Passive-Set-Position-Modulation Framework for Interactive Robotic Systems
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DOI：
10.1109/tro.2010.2041877
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发表时间：
2010-04
影响因子：
7.8
通讯作者：
Dongjun Lee;Ke Huang
中科院分区：
文献类型：
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作者：
Dongjun Lee;Ke Huang
在本文中，我们提出了一种新的框架，被动设置位置调制（PSPM），它使我们能够连接一个（连续时间）机器人的位置的序列缓慢更新/稀疏（离散时间）设置位置信号通过简单的（但在实践中经常使用）弹簧耦合与阻尼注入，同时执行无源性的闭环机器人系统。PSPM调制原始设定位置信号，使得调制信号尽可能接近原始信号（即，最大信息恢复以获得更好的性能），但仅达到系统中可用能量所允许的程度（即，被动约束）。我们提出了它的算法，并从理论上证明了它的无源性和性能。我们还展示了如何PSPM可以应用于两个应用程序，与一些实验结果：互联网遥操作不同的延迟和数据包丢失;和触觉与缓慢和可变速率的数据更新。
In this paper, we propose a novel framework, passive set-position modulation (PSPM), which enables us to connect a (continuous-time) robot's position to a sequence of slowly updating/sparse (discrete-time) set-position signal via the simple (yet frequently used in practice) spring coupling with damping injection, while enforcing passivity of the closed-loop robotic system. The PSPM modulates the original set-position signal in such a way that the modulated signal is as close to the original signal as possible (i.e., maximum information recovery for better performance), yet only to the extent permissible by the available energy in the system (i.e., passivity constraints). We present its algorithm and theoretically show its passivity and performance. We also show how this PSPM can be applied for two applications, with some experimental results: Internet teleoperation with varying delay and packet loss; and haptics with slow and variable-rate data update.