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.
Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming