TY - GEN
T1 - Computational Delay and Free Mode Environment Design for Haptic Display
AU - Miller, Brian E.
AU - Colgate, J. Edward
AU - Freeman, Randy A.
N1 - Publisher Copyright:
© 1999 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1999
Y1 - 1999
N2 - This paper develops a technique for the design of haptic systems that guarantees the absence of oscillations. Valid components of the haptic system are general devices, virtual couplings and virtual environments, linear or nonlinear, however the current work focuses on linear components. Once developed, the method will be applied to a haptic system to investigate stability conditions for passive environments versus those for non-passive environments. Examples of computational delay and free mode environment design will be developed as meaningful design problems that fall into the category of non-passive environments.
AB - This paper develops a technique for the design of haptic systems that guarantees the absence of oscillations. Valid components of the haptic system are general devices, virtual couplings and virtual environments, linear or nonlinear, however the current work focuses on linear components. Once developed, the method will be applied to a haptic system to investigate stability conditions for passive environments versus those for non-passive environments. Examples of computational delay and free mode environment design will be developed as meaningful design problems that fall into the category of non-passive environments.
UR - http://www.scopus.com/inward/record.url?scp=34247222238&partnerID=8YFLogxK
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U2 - 10.1115/IMECE1999-0030
DO - 10.1115/IMECE1999-0030
M3 - Conference contribution
AN - SCOPUS:34247222238
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 229
EP - 236
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1999 International Mechanical Engineering Congress and Exposition, IMECE 1999
Y2 - 14 November 1999 through 19 November 1999
ER -