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Experimental Stability Analysis of a Haptic System

Hulin, Thomas and Gil, Jorge Juan and Sanchez, Emilio and Preusche, Carsten and Hirzinger, Gerhard (2006) Experimental Stability Analysis of a Haptic System. In: Proceedings, pp. 157-158. ENACTIVE/06 Enaction & Complexity, 2006-11-21 - 2006-11-22, Montpellier (France).

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Abstract

An elementary prerequisite for haptic applications is to preserve stability. Numerous studies have been presented in the past dealing with ensuring stability for haptic interfaces. The passivity condition of Colgate et al. (1994; 1997) represents one of the most cited theoretical studies towards a common stability condition. Although ensuring passivity of haptic devices is a general approach, it has the disadvantages of being conservative in terms of stability.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Experimental Stability Analysis of a Haptic System
Authors:
AuthorsInstitution or Email of Authors
Hulin, ThomasUNSPECIFIED
Gil, Jorge JuanUNSPECIFIED
Sanchez, EmilioUNSPECIFIED
Preusche, CarstenUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:20 November 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 157-158
Status:Published
Keywords:Stability Analysis, Haptic System
Event Title:ENACTIVE/06 Enaction & Complexity
Event Location:Montpellier (France)
Event Type:international Conference
Event Dates:2006-11-21 - 2006-11-22
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 - Vorhaben DLR-Leichtbau-Roboter III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:27 Oct 2008
Last Modified:12 Dec 2013 20:23

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