Passive Implementation of Multibody Simulations for Haptic Display
2
J. Michael Brown
J. Edward Colgate
Proceedings of the ASME Interational Mechanical Engineering Congress and Exhibition
1997 ASME
http://lims.mech.northwestern.edu/mbrown-lib/imece97/imece97.ps
This paper addresses the issue of providing stability guarantees
during the implementation of multibody simulations for haptic
display. It introduces the concept of a virtual coupling between the
multibody simulation and haptic display hardware. This coupling
separates the simulation design process from the sampled- data
stability issues that arise during its implementation with a haptic
display. Necessary conditions for passivity of a 1-DOF haptic display
with a discrete-time passive simulation and an arbitrary virtual
coupling are given. The implications of discrete-time passivity on
numerical integration and collision response algorithms are also
addressed.