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Stability Boundary for Haptic Rendering: Influence of Physical Damping.

Hulin, Thomas and Preusche, Carsten and Hirzinger, Gerhard (2006) Stability Boundary for Haptic Rendering: Influence of Physical Damping. In: Proceedings, pp. 1570-1575. IEEE/IROS International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.

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Abstract

Physical damping is increasing the z-width of haptic simulations. This paper derives the normalized stability boundaries for physically damped one degree of freedom haptic devices colliding with a virtual wall represented as spring-damper system. These boundaries are independent of the haptic device’s mass and the sampling time. Furthermore, the dependency of the maximum stable virtual stiffness is discussed. Moreover, this paper illustrates that the passive region which is defined by Colgate’s passivity condition is a subset inside the stable region for undelayed systems, but not for delayed systems.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Stability Boundary for Haptic Rendering: Influence of Physical Damping.
Authors:
AuthorsInstitution or Email of Authors
Hulin, ThomasUNSPECIFIED
Preusche, CarstenUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 1570-1575
Status:Published
Keywords:Haptic Rendering, Physical Damping, Stability Boundary, Normalized Haptic Parameters, Impedance Control
Event Title:IEEE/IROS International Conference on Intelligent Robots and Systems
Event Location:Beijing, China
Event Type:international Conference
Event Dates:2006-10-09 - 2006-10-15
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:04 Nov 2008
Last Modified:12 Dec 2013 20:21

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