TY - GEN
T1 - PASSIVE IMPLEMENTATION OF MULTIBODY SIMULATIONS FOR HAPTIC DISPLAY
AU - Brown, J. Michael
AU - Colgate, J. Edward
N1 - Funding Information:
This work was supported in part by the NASA Graduate Student Researchers Program. Many thanks to Beeling Chang and Brent Gillespie for their help with this work.
Publisher Copyright:
© 1997 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1997
Y1 - 1997
N2 - This paper addresses the issue of providing stability guarantees during the implementation of multibody simulations 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 I-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.
AB - This paper addresses the issue of providing stability guarantees during the implementation of multibody simulations 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 I-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.
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U2 - 10.1115/IMECE1997-0381
DO - 10.1115/IMECE1997-0381
M3 - Conference contribution
AN - SCOPUS:85124371810
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 85
EP - 92
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dynamic Systems and Control
Y2 - 16 November 1997 through 21 November 1997
ER -