Environment delay in haptic systems

Brian E. Miller*, Ed Colgate, Randy A Freeman

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

30 Scopus citations

Abstract

This paper will investigate the influence environment delay has on haptic systems. Work presented in [9] and [11] demonstrated that it is possible to account for environment delay (even though it is a non-passive behavior) and still achieve a stability result based on passivity concepts. The details were given for haptic systems with environments having impedance causality. This paper will present the companion results for haptic systems with environments having admittance causality, resulting in a slightly more complicated analysis. Although the main focus will be on delay, the approach is valid to analyze any environment that exhibits non-passive behavior.

Original languageEnglish (US)
Pages (from-to)2434-2439
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Dec 3 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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