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

被引：0
|
作者：
Colgate, JE
Schenkel, GG
机构：
[1] Department of Mechanical Engineering, Northwestern University, Evanston
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1997年 / 14卷 / 01期
关键词：
D O I：
10.1002/(SICI)1097-4563(199701)14:1<37::AID-ROB4>3.0.CO;2-V
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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''). Necessary conditions for passivity are found via a small gain condition, and sufficient conditions are found via an application of Parseval's theorem and a sequence of frequency domain manipulations. An example - implementation of a ''virtual wall'' via a one degree-of-freedom haptic interface - is given and discussed in some detail. (C) 1997 John Wiley & Sons, Inc.
引用
收藏
页码：37 / 47
页数：11
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