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 language | English (US) |
|---|---|
| Pages | 85-92 |
| Number of pages | 8 |
| State | Published - Dec 1 1997 |
| Event | Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA Duration: Nov 16 1997 → Nov 21 1997 |
Other
| Other | Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition |
|---|---|
| City | Dallas, TX, USA |
| Period | 11/16/97 → 11/21/97 |
ASJC Scopus subject areas
- Software
- Mechanical Engineering