Energy Bounding Algorithm Based-on Passivity Theorem for Stable Haptic Interaction Control

@inproceedings{Kim2004EnergyBA,
  title={Energy Bounding Algorithm Based-on Passivity Theorem for Stable Haptic Interaction Control},
  author={Jong-Phil Kim and Jeha Ryu},
  booktitle={HAPTICS},
  year={2004}
}
After a basic theory on the passivity condition for the sampled-data system has been reviewed, passivity conditions on each subsystem of haptic simulation have been investigated. In addition, the virtual wall simulation is analytically analyzed with the passivity conditions and derived the previously well known stability condition ( / 2 ) b KT B ≥ + . Based on this, we propose a novel energy bounding algorithm for stable haptic interaction control. The proposed energy bounding algorithm… CONTINUE READING
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