A simulation/experimental study of the noisy behavior of the time-domain passivity controller

@article{Ryu2005ASS,
  title={A simulation/experimental study of the noisy behavior of the time-domain passivity controller},
  author={Jee-Hwan Ryu and Blake Hannaford and Dong-Soo Kwon and Jong-Hwan Kim},
  journal={IEEE Transactions on Robotics},
  year={2005},
  volume={21},
  pages={733-741}
}
A noisy behavior of the time-domain passivity controller during the period of low velocity is analyzed. Main reasons of the noisy behavior are investigated through a simulation with a one-DOF haptic interface model. It is shown that the PO/PC is ineffective in dissipating the produced energy when the sign of the velocity, which is numerically calculated from the measured position, is suddenly changed, and when this velocity is zero. These cases happen during the period of low velocity due to… CONTINUE READING
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