One of the most important issues in haptic interface design is to achieve stable interaction between the haptic display and the virtual environment for any operating conditions and for any virtual environment parameters. Recently, Hannaford and Ryu [10,11,16] proposed an energy based method, whose components are termed the “Passivity Observer” (PO) and “Passivity Controller” (PC). Force and velocity are the key variables which define the nature of haptic contact. If the system has initial stored energy at t = 0 of E(0), we can use the following widely known definition of passivity.
Testing Time Domain Passivity Control of Haptic Enabled Systems
2003-06-30
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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