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 language | English (US) |
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Pages (from-to) | 2937-2942 |
Number of pages | 6 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 4 |
State | Published - 1999 |
Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: May 10 1999 → May 15 1999 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering