Stable manipulation of virtual environment under the network environment

摘要

This paper considers to design a virtual environment which could realize stable interaction with human operators. With the development of computer technology, virtual reality is getting reality, and many haptic interfaces have been proposed so far. Although most of those haptic interfaces are intended to use as a kinesthetic feedback device of virtual environment, characteristics of the virtual environment is sometimes ignored and stability of the system is not necessarily guaranteed. In this paper, we design an alternative control algorithm for master manipulator with virtual environment. The control algorithm is designed so that the whole system satisfies the passivity, the stability of the system is guaranteed based on the concept of the passivity.