The Application of an Impedance-Passivity Controller in Haptic Stability Analysis
This paper proposes a passivity theorem on the basis of energy concepts to study the stability of force feedback in a virtual haptic system. An impedance-passivity controller (IPC) was designed from the two-port network perspective to improve the chief drawback of haptic systems, namely the consider...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-02-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/4/1618 |