Determining the Passive Region of the Multirate Wave Transform on the Practical Implementation

Title
Determining the Passive Region of the Multirate Wave Transform on the Practical Implementation
Authors
조창현이진이이용권최문택
Keywords
Parameter range; Unit time delay; Multirate wave transform; Wave variables; Haptics
Issue Date
2011-12
Publisher
International Journal of Precision Engineering and Manufacturing
Citation
VOL 12, NO 6, 975-981
Abstract
This paper proposes a computation scheme for determining parameters guaranteeing passivity of a haptic interface with the multirate wave transform (MWT). A practical implementation of MWT considering unit time delays is presented and a passivity condition is obtained from the scattering matrix. Parameter ranges guaranteeing passivity of a haptic interface with MWT are obtained from the extreme case study of the proposed passivity condition. Various simulations and experiments have shown that stable force displays can be achieved with the proposed parameter values.
URI
http://pubs.kist.re.kr/handle/201004/42618
ISSN
12298557
Appears in Collections:
KIST Publication > Article
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