Passive Implementations for a Class of Static Nonlinear Environments in Haptic Display
نویسندگان
چکیده
This paper derives conditions for the absence of oscillations for a parameterized class of nonlinear environments. This class includes discrete-time environments that can exhibit non-passive behavior. The motivation for constderhg non-passive discrete-time environments is based on the fact that an interesting class of passive continuous-time environments have non-passive discrete-time counterparts. A design methodology is antmduced that provides relationships between the haptic device, virtual coupling and maximum negative stifiess exhibited by the environment.
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