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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: |
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| Date: | 09 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 | ||||||||
| HGF - Program: | Space | ||||||||
| 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: | 14 Jan 2010 23:38 |
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