Passive implementation for a class of static nonlinear environments in haptic display

Brian E. Miller*, J. Edward Colgate, Randy A. Freeman

*Corresponding author for this work

Research output: Contribution to journalConference article

18 Scopus citations

Abstract

This paper derives conditions for the absence of oscillations for a parameterized class of nonlinear environments. This class includes discrete-time environments that can exhibit non-passive behavior. The motivation for considering non-passive discrete-time environments is based on the fact that an interesting class of passive continuous-time environments have non-passive discrete-time counterparts. A design methodology is introduced that provides relationships between the haptic device, virtual coupling and maximum negative stiffness exhibited by the environment.

Original languageEnglish (US)
Pages (from-to)2937-2942
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
StatePublished - Jan 1 1999
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

ASJC Scopus subject areas

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

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