DocumentCode
2431354
Title
Passivity of a class of sampled-data systems: application to haptic interfaces
Author
Colgate, J Edward ; Schenkel, Gerd
Author_Institution
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
Volume
3
fYear
1994
fDate
29 June-1 July 1994
Firstpage
3236
Abstract
Passivity of systems comprising a continuous time plant and discrete time controller is considered. This topic is motivated by stability considerations arising in the control of robots and force-reflecting human interfaces ("haptic interfaces"). A necessary and sufficient condition for the passivity of a class of sampled-data systems is derived. An example-implementation of a "virtual wall" via a one degree-of-freedom haptic interface-is presented.
Keywords
discrete time systems; man-machine systems; sampled data systems; stability; telerobotics; user interfaces; continuous time plant; discrete time controller; force-reflecting human interfaces; haptic interfaces; necessary condition; passivity; robots; sampled-data systems; stability; sufficient condition; Actuators; Control systems; Delay effects; Force control; Frequency; Haptic interfaces; Humans; Robots; Robust stability; Virtual environment;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.735172
Filename
735172
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