In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed.
Delayed Virtual Environments: a port-Hamiltonian Approach / Secchi, Cristian; Stramigioli, S.; Fantuzzi, Cesare. - ELETTRONICO. - 3:(2003), pp. 2956-2961. (Intervento presentato al convegno 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a Las Vegas, NV, usa nel 27-31 Ottobre 2003).
Delayed Virtual Environments: a port-Hamiltonian Approach
SECCHI, Cristian;FANTUZZI, Cesare
2003
Abstract
In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed.
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