Passive implementation of multibody simulations for haptic display

J. Michael Brown*, Ed Colgate

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

32 Scopus citations

Abstract

This paper addresses the issue of providing stability guarantees during the implementation of multibody simulation for haptic display. It introduces the concept of a virtual coupling between the multibody simulation and haptic display hardware. This coupling separates the simulation design process from the sampled-data stability issues that arise during its implementation with a haptic display. Necessary conditions for passivity of a 1-DOF haptic display with a discrete-time passive simulation and an arbitrary virtual coupling are given. The implications of discrete-time passivity on numerical integration and collision response algorithms are also addressed.

Original languageEnglish (US)
Pages85-92
Number of pages8
StatePublished - Dec 1 1997
EventProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA
Duration: Nov 16 1997Nov 21 1997

Other

OtherProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition
CityDallas, TX, USA
Period11/16/9711/21/97

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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