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Abstract: Passivity Of a Class of Sampled-Data Systems:
Application to Haptic Interfaces
Abstract: Passivity Of a Class of Sampled-Data Systems: Application to Haptic Interfaces
by J. Edward Colgate and Gerd Schenkel
Proceedings of the 1994 American Control Conference, Baltimore, MD,
pp. 3236-40
© 1994 AIAA.
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Abstract:
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"). A necessary and sufficient
condition for the passivity of a class of sampled-data systems is
derived. An example - implementation of a "virtual wall" via a one
degree-of-freedom haptic interface - is presented.
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