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[180] Citation: Abstract
We propose 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 "Excalibur" haptic interface
system with very
high stiffness (K = 120KN/m) Virtual Envoronment (VE), and stable contact is
demonstrated.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:51 2008
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