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Passivity of a class of sampled-data systems: application to haptic interfaces

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2 Author(s)
J. E. Colgate ; Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA ; G. Schenkel

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.

Published in:

American Control Conference, 1994  (Volume:3 )

Date of Conference:

29 June-1 July 1994