Environment Delay in Haptic Systems

This paper will investigate the influence environment delay has on haptic systems. Work presented in [9]and [ll]demonstrated that it is possible to account for environment delay (even though it is a non-passive behavior) and still achieve a stability result based on passivity concepts. The details were given for haptic systems with environments having impedance causality. This paper will present the companion results for haptic systems with environments having admittance causality, resulting in a slightly more complicated analysis. Although the main focus will be on delay, the approach is valid to analyze any environment that exhibits non-passive behavior.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Brian E. Miller, J. Edward Colgate, Randy Freeman
• Keywords: Environment Delay, Haptic Systems, ICRA 2000, Influence Environment Delay, Robotics