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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Vydáno v:IEEE transactions on robotics Ročník 20; číslo 4; s. 772 - 776
Hlavní autoři: Jee-Hwan Ryu, Yoon Sang Kim, Hannaford, B.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.08.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
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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Popis
Shrnutí: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.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829453