Passive implementation for a class of static nonlinear environments in haptic display
- 20 January 2003
Abstract
This paper derives conditions for the absence of oscillations for a parametrized class of nonlinear environments. This class includes discrete-time environments that can exhibit non-passive behavior. The motivation for considering non-passive discrete-time environments is based on the fact that an interesting class of passive continuous-time environments have non-passive discrete-time counterparts. A design methodology is introduced that provides relationships between the haptic device, virtual coupling and maximum negative stiffness exhibited by the environment.Keywords
This publication has 4 references indexed in Scilit:
- A two-port framework for the design of unconditionally stable haptic interfacesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Issues in the haptic display of tool usePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Passivity of a class of sampled-data systems: Application to haptic interfacesJournal of Robotic Systems, 1997
- The Stability and Control of Discrete ProcessesPublished by Springer Science and Business Media LLC ,1986