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Stability Boundary and Design Criteria for Haptic Rendering of Virtual Walls
Hulin, Thomas and Preusche, Carsten and Hirzinger, Gerd (2006) Stability Boundary and Design Criteria for Haptic Rendering of Virtual Walls. In: Proceedings. SYROCO 2006 (8th International IFAC Symposium on Robot Control), 2006-09-06 - 2006-09-08, Bologna, Italy.
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Abstract
This paper is about haptic simulations of virtual walls, which are represented by a discrete PD-control. A normalized discrete-time transfer function is used to derive the fundamental stability boundaries for this problem. Hereby, the case of direct action and the more often case of an one sampling step delayed action are addressed. Inside the stable region the set of all parameters was determined that result in real system poles. Furthermore, three dierent design criteria are compared to nd optimum control parameters for the virtual wall. Finally, important conclusions for haptic simulations are derived.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
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| Title: | Stability Boundary and Design Criteria for Haptic Rendering of Virtual Walls | ||||||||
| Authors: |
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| Date: | September 2006 | ||||||||
| Journal or Publication Title: | Proceedings | ||||||||
| Status: | Published | ||||||||
| Keywords: | Haptic Rendering, Virtual Spring, Virtual Damper, PD-Control, Stability Boundary, Virtual Wall | ||||||||
| Event Title: | SYROCO 2006 (8th International IFAC Symposium on Robot Control) | ||||||||
| Event Location: | Bologna, Italy | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 2006-09-06 - 2006-09-08 | ||||||||
| Organizer: | IFAC | ||||||||
| 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: | Thomas Hulin | ||||||||
| Deposited On: | 07 Feb 2007 | ||||||||
| Last Modified: | 15 Jan 2010 00:12 |
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