Sampled- and continuous-time passivity and stability of virtual environments

Authors:
Jee-Hwan Ryu;Yoon Sang Kim;B. Hannaford
Affiliations:
Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea;-;-
Venue:
IEEE Transactions on Robotics
Year:
2004

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Abstract

We propose a new time-domain passivity observer (PO) and passivity controller (PC) which removes the constant-velocity assumption during one sample time, which was used in our previous PO/PC approach. A new sampled-time definition of passivity is introduced, and this new definition is compared with the previous sampled-time definition of passivity. Through this comparison, we propose the more accurate PO/PC approach. The proposed new PO/PC approach is applied to the "Excalibur" haptic interface system with very high stiffness (K = 120 kN·m) virtual environment, and stable contact is demonstrated.