This paper consists of three parts. First, with a slightly-different, yet, more physically-plausible, discrete supply-rate (i.e. power), we propose a non-iterative (i.e. fast) and variable-step numerical integration algorithm for (scalar) discrete-passive mechanical systems, consisting of constant mass and damper, and a certain class of nonlinear spring. In the second part, we propose a fast passive collision handling algorithm with a spring-damper type virtual wall, which, to detect exact time of contacts, requires at most three intermediate non-iterative computations within each integration-step. We then propose a way of how to passively connect this discrete-passive, non-iterative, and variable-step mechanical integrators (with passive collision handling) to a continuous haptic device.
- Dynamic Systems and Control Division
On Passive Non-Iterative Variable-Step Numerical Integration of Mechanical Systems for Haptic Rendering
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Lee, D, & Huang, K. "On Passive Non-Iterative Variable-Step Numerical Integration of Mechanical Systems for Haptic Rendering." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 1147-1154. ASME. https://doi.org/10.1115/DSCC2008-2257
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