Sampled- and continuous-time passivity and stability of virtual environments

We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with...

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Vydané v:	IEEE transactions on robotics Ročník 20; číslo 4; s. 772 - 776
Hlavní autori:	Jee-Hwan Ryu, Yoon Sang Kim, Hannaford, B.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York, NY IEEE 01.08.2004 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	Applied sciences Computer science; control theory; systems Contact Control theory Control theory. Systems Controllers Energy measurement Exact sciences and technology Fluid flow measurement Force measurement Haptic interfaces Humans Miscellaneous Observers Passivity Polycarbonates Robotics Robots Stability Stiffness Time domain analysis User interface Velocity Velocity measurement Virtual environment Sampled system Time domain method User interface Observer Virtual reality Continuous time System identification Computer control Passivity
ISSN:	1552-3098, 1941-0468
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Abstract	We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN/spl middot/m) virtual environment, and stable contact is demonstrated.
AbstractList	We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN/spl middot/m) virtual environment, and stable contact is demonstrated. We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN/spl middot/m) virtual environment, and stable contact is demonstrated.[PUBLICATION ABSTRACT] We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN/middot/m) virtual environment, and stable contact is demonstrated. We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN.m) virtual environment, and stable contact is demonstrated.
Author	Yoon Sang Kim Jee-Hwan Ryu Hannaford, B.
Author_xml	– sequence: 1 surname: Jee-Hwan Ryu fullname: Jee-Hwan Ryu organization: Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea – sequence: 2 surname: Yoon Sang Kim fullname: Yoon Sang Kim – sequence: 3 givenname: B. surname: Hannaford fullname: Hannaford, B.
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SubjectTerms	Applied sciences Computer science; control theory; systems Contact Control theory Control theory. Systems Controllers Energy measurement Exact sciences and technology Fluid flow measurement Force measurement Haptic interfaces Humans Miscellaneous Observers Passivity Polycarbonates Robotics Robots Stability Stiffness Time domain analysis User interface Velocity Velocity measurement Virtual environment
Title	Sampled- and continuous-time passivity and stability of virtual environments
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