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Passive implementation for a class of static nonlinear environments in haptic display

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3 Author(s)
B. E. Miller ; Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA ; J. E. Colgate ; R. A. Freeman

This paper derives conditions for the absence of oscillations for a parametrized class of nonlinear environments. This class includes discrete-time environments that can exhibit non-passive behavior. The motivation for considering non-passive discrete-time environments is based on the fact that an interesting class of passive continuous-time environments have non-passive discrete-time counterparts. A design methodology is introduced that provides relationships between the haptic device, virtual coupling and maximum negative stiffness exhibited by the environment

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999