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005 20251030111409.0
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008 240131s2024 si | s |||| 0|eng d
020 _a9789819985982
_9978-981-99-8598-2
024 7 _a10.1007/978-981-99-8598-2
_2doi
050 4 _aTJ210.2-211.495
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTJFM1
_2thema
100 1 _aKim, Suyong.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_970312
245 1 0 _aControl Design for Haptic Systems
_h[electronic resource] :
_bEnhancing the Stability and Rendering Performance /
_cby Suyong Kim, Doo Yong Lee.
250 _a1st ed. 2024.
264 1 _aSingapore :
_bSpringer Nature Singapore :
_bImprint: Springer,
_c2024.
300 _aXIII, 140 p. 112 illus., 79 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aKAIST Research Series,
_x2214-255X
505 0 _aIntroduction to Haptic Systems -- Control of Haptic Systems -- Input-to-State Stability (ISS) and Haptic Control -- Transparency of Haptic Systems -- Haptic Systems under Time Delay.
520 _aThis book aims at the upper-class undergraduate and the graduate students, and practicing engineers in the disciplines of mechanical, electrical, and computer engineering, with background knowledge of control. This book, first, explains the components of the haptic systems that are gaining popularity in the virtual reality simulations, the metaverse applications, as well as the remotely operated robotic systems. Next, the book introduces the previous and current widely-adopted methods for modeling and control of the haptic systems. The important metrics of performance such as stability and transparency of the haptic systems are explained and analyzed. Shortcomings of the current methods are discussed using these metrics. The book, then, explains the theories on the input-to-state stability (ISS), and shows how to formulate the control of haptic systems into the ISS framework. Step by step process of control design using the formulation is detailed, and better results are shown with experiment examples. The book develops further the presented approach to secure improved performance under selected issues. For example, better transparency of the haptic rendering, and handling of constant or time-varying time delay present in the haptic control systems.
650 0 _aRobotics.
_959148
650 0 _aControl engineering.
650 0 _aAutomation.
_959149
650 0 _aElectronics.
_965899
650 1 4 _aRobotic Engineering.
_966064
650 2 4 _aControl, Robotics, Automation.
650 2 4 _aRobotics.
_959148
650 2 4 _aElectronics and Microelectronics, Instrumentation.
_965902
650 2 4 _aAutomation.
_959149
700 1 _aLee, Doo Yong.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_970313
710 2 _aSpringerLink (Online service)
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9789819985975
776 0 8 _iPrinted edition:
_z9789819985999
776 0 8 _iPrinted edition:
_z9789819986002
830 0 _aKAIST Research Series,
_x2214-255X
_966269
856 4 0 _uhttps://doi.org/10.1007/978-981-99-8598-2
912 _aZDB-2-INR
912 _aZDB-2-SXIT
999 _c57409
_d57409