Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 21, Issue 4, Pages 574-587Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2004.842330
Keywords
haptics; sampled passivity; sampled port-Hamiltonian systems; telemanipulation
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In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in [1]-[3]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master/slave system on a digital transmission line with varying time delays and possible loss of packets (e.g., the Internet), and in the field of haptics, where the virtual environment should 'feel' like a physical equivalent system.
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