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Abstract: Passive Implementation of Multibody Simulations for Haptic Display

Passive Implementation of Multibody Simulations for Haptic Display

J. Michael Brown
J. Edward Colgate

Proceedings of the 1997 ASME Interational Mechanical Engineering Congress and Exhibition

© 1997 ASME. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale, or to reuse any copyrighted component of this work in other works must be obtained from the American Society of Mechanical Engineers.

Abstract:

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.

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