Sampled and Continuous Time Passivity and Stability of Virtual Environments

Ryu, Jee-Hwan and Kim, Yoon Sang and Hannaford, Blake (2004) Sampled and Continuous Time Passivity and Stability of Virtual Environments. IEEE Trans. on Robotics and Automation, 20 (4). pp. 772-776.

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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.

Item Type: Article
Subjects: C Surgical Robots > CA Robotic Control
Divisions: Department of Electrical Engineering
Depositing User: Mohammad Haghighipanah
Date Deposited: 30 Jul 2015 17:58
Last Modified: 30 Jul 2015 17:58
URI: http://brl.ee.washington.edu/eprints/id/eprint/218

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