Name
Abstract | ||
|---|---|---|
In this paper, two problems related to the simulation of virtual environments for haptic systems are considered. The first problem is how to simulate, in discrete time and with low computational effort, dynamic systems in order to preserve their passivity properties. As a matter of fact, simulation of complex systems in real time may lead to undesired effects, like unstable behaviours of the haptic interface, if proper care is not given to the definition of the simulation algorithm. An algorithm is presented here able to maintain the passivity properties of the physical (simulated) system with a reduced computational complexity. The second problem discussed in this paper is the interconnection of algorithms running at different frequencies, i.e. the control algorithm of the haptic interface (running typically at high frequency) and the algorithm simulating the virtual environment (running at lower frequency). A proper software interface, able to connect these two algorithms in an energetic-consistent manner, is presented and discussed. The general framework of both these techniques is the passivity theory and the so-called port-Hamiltonian formalism. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363773 | PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 |
Keywords | Field | DocType |
complex system,sampling methods,high frequency,virtual environment,dynamic system,real time systems,haptic interface,dynamic systems,computational modeling,high performance computing,discrete time,stability,computational complexity,real time,force feedback,frequency | Passivity,Complex system,Virtual machine,Control theory,Computer science,Simulation,Control engineering,Software,Discrete time and continuous time,Dynamical system,Haptic technology,Computational complexity theory | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 |
Citations | PageRank | References |
2 | 0.51 | 9 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gianni Borghesan | 1 | 113 | 14.01 |
| Alessandro Macchelli | 2 | 238 | 25.59 |
| Claudio Melchiorri | 3 | 779 | 88.97 |