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[167] Citation: Jee-Hwan Ryu, Yoon Sang Kim, Blake Hannaford, 'Sampled and Continuous Time Passivity and Stability of Virtual Environments,'
IEEE Int. Conf. on Robotics & Automation 2003, pp. 822-827, Taipei, Taiwan, Sept. 2003.
Abstract
We propose new time domain Passivity Observer (PO) and Passivity Controller(PC)
with removing the constant velocity assumption during one sample time,which was
used in our previous PO/PC
approach to estimate one step ahead future energy output. Due to this
assumption, in certain cases, the previous PO
can not observe the active energy output from the virtual environment. In this
paper, we analyze the energy output from the virtual environment in continuous
time domain,
and introduce the sampled time definition of passivity. This new definition iscompared with the previous
sampled time definition of passivity. Through this comparison, we propose themore accurate PO/PC approach.
To satisfy the stability for all continuous and sampled time domain,
we analyze the energy behavior in-between sample with considering the velocitychange within one sample time.
The proposed new PO/PC approach is applied to "Excalibur" haptic interfacesystem with very
high stiffness $(K = 120KN/m)$, and we can guarantee stable contact.
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Updated: Tue Jul 15 23:54:51 2008
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