Sampled and Continuous Time Passivity and Stability of Virtual Environments

Ryu, Jee-Hwan and Kim, Yoon Sang and Hannaford, Blake (2003) Sampled and Continuous Time Passivity and Stability of Virtual Environments. IEEE Int. Conf. on Robotics & Automation 2003. pp. 822-827.

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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.

Item Type: Article
Subjects: B Teleoperation > B Teleoperation (General)
B Teleoperation > BB Sensors for Teleoperation
Depositing User: Junjie Yan
Date Deposited: 09 Jul 2015 23:48
Last Modified: 09 Jul 2015 23:48
URI: http://brl.ee.washington.edu/eprints/id/eprint/137

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