Cart (Loading....) | Create Account
Close category search window
 

A Fundamental Linear Systems Conflict Between Performance and Passivity in Haptic Rendering

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Griffiths, P.G. ; Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA ; Gillespie, R.B. ; Freudenberg, J.S.

This paper analyzes inherent conflicts between model-matching goals of haptic rendering and passivity requirements for coupled stability. We apply results from complex analysis to prove that certain linear passive virtual environments cannot be rendered passively with a desired level of accuracy and over a given finite bandwidth. One practical consequence is that, under appropriate hypotheses, passivity will be violated when accurately rendering inertia in a virtual environment that is less than the inertia of the uncompensated hardware dynamics. In a related result, we show that there exists a waterbed-type tradeoff between performance and phase lag in the rendered dynamics. Both design constraints arise from feedback-bandwidth limitations and not sampled-data effects, quantization, or nonlinearities. The key to our analysis is an interpretation of a Bode gain-phase integral relationship that relates magnitude at low frequencies to phase at high frequencies. The performance limitation and the waterbed tradeoff are illustrated through an experimental study.

Published in:

Robotics, IEEE Transactions on  (Volume:27 ,  Issue: 1 )

Date of Publication:

Feb. 2011

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.