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Passive wave variable control of haptic interaction with an unknown virtual environment
2011 IEEE International Conference on Robotics and Automation
The wave variable transformation cannot be exploited for the control of sampled-data and discrete-time systems without precaution. This paper shows that connecting a haptic interface to a discrete time virtual environment through a wave variable controller can inject energy into the haptic feedback loop and thus jeopardize the stability of the haptic interaction. The connection involves a one step computational delay when the virtual environment is not known prior to starting the interaction.doi:10.1109/icra.2011.5980362 dblp:conf/icra/YasrebiC11 fatcat:mvfg23pqp5blhlb6u27bh45bha