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

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 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 - Jan 1 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

Access to Document

Fingerprint Dive into the research topics of 'Passive implementation for a class of static nonlinear environments in haptic display'. Together they form a unique fingerprint.

Cite this

Miller, B. E., Colgate, J. E., & Freeman, R. A. (1999). Passive implementation for a class of static nonlinear environments in haptic display. Proceedings - IEEE International Conference on Robotics and Automation, 4, 2937-2942.

@article{7baed5aee8174c0f88115a57f88eee7f,

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",

month = jan,

day = "1",

language = "English (US)",

volume = "4",

pages = "2937--2942",

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

issn = "1050-4729",

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",

}

TY - JOUR

T1 - Passive implementation for a class of static nonlinear environments in haptic display

AU - Miller, Brian E.

AU - Colgate, J. Edward

AU - Freeman, Randy A.

PY - 1999/1/1

Y1 - 1999/1/1

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.

UR - http://www.scopus.com/inward/record.url?scp=0032682165&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0032682165&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0032682165

VL - 4

SP - 2937

EP - 2942

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

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

Y2 - 10 May 1999 through 15 May 1999

ER -