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

Brian E. Miller; J. Edward Colgate; Randy A. Freeman

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 journal › Conference article › peer-review

21 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 language	English (US)
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

Cite this

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title = "Passive implementation for a class of static nonlinear environments in haptic display",

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.",

author = "Miller, {Brian E.} and Colgate, {J. Edward} and Freeman, {Randy A.}",

year = "1999",

language = "English (US)",

volume = "4",

pages = "2937--2942",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 ; Conference date: 10-05-1999 Through 15-05-1999",

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AU - Miller, Brian E.

AU - Colgate, J. Edward

AU - Freeman, Randy A.

PY - 1999

Y1 - 1999

N2 - 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.

AB - 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.

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M3 - Conference article

AN - SCOPUS:0032682165

SN - 1050-4729

VL - 4

SP - 2937

EP - 2942

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99

Y2 - 10 May 1999 through 15 May 1999

ER -

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

Abstract

ASJC Scopus subject areas

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