Abstract
In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in [1][2] [3]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master/slave system on a digital transmission line with varying time delays and possible loss of packets (e.g., the Internet), and in the field of haptics, where the virtual environment should ‘feel’ like a physical equivalent system.
Original language | Undefined |
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Pages (from-to) | 574-587 |
Number of pages | 14 |
Journal | IEEE transactions on robotics and automation |
Volume | 21 |
Issue number | 4 |
DOIs | |
Publication status | Published - 2005 |
Keywords
- METIS-228023
- CE-Advanced Robotics
- EWI-12687
- IR-54220