Passivity Analysis of Haptic Interfaces Based on Frequency Response Approach
Passivity is the main objective of the haptic interface design. Whereas there is some omits and approximations in previous works, so the condition for passivity given in them is too conservative. The inherent problems in previous works are analyzed and further proved by simulation. A simple and intuitive approach based on the real frequency response of sampled-data systems is proposed here, and the condition for passivity of a haptic system is obtained. As can be seen from the simulation results, the condition for passivity given in this paper is nonconservative.
sampled-data system lifting technique frequency response haptic system conservative
Yanwen Liu
College of Automation Harbin Engineering University Harbin, China
国际会议
厦门
英文
679-683
2010-10-29（万方平台首次上网日期，不代表论文的发表时间）