Guaranteed stability of haptic systems with nonlinear virtual environments
Identifieur interne : 008683 ( Main/Merge ); précédent : 008682; suivant : 008684Guaranteed stability of haptic systems with nonlinear virtual environments
Auteurs : B. E. Miller [États-Unis] ; J. E. Colgate ; R. A. FreemanSource :
- IEEE Transactions on Robotics and Automation [ 1042-296X ] ; 2000.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
- KwdEn :
Abstract
Design of haptic systems that guarantee stable interaction is a challenging task. Virtual environments are typically highly nonlinear - resulting in a nonpassive discrete-time model. This paper will investigate how nonlinear mass/spring/damper virtual environments can be designed to guarantee the absence of oscillations and other chaotic behavior in the signal presented to the human operator. In particular, delayed and nondelayed implementation of the mass/spring/damper virtual environment is considered, revealing a nonintuitive result with regard to the allowable local stiffness.
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Pascal:01-0113248Le document en format XML
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