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A Practically Linear Relation between Time Delay and the Optimal Settling Time of a Haptic Device

Hulin, Thomas (2017) A Practically Linear Relation between Time Delay and the Optimal Settling Time of a Haptic Device. IEEE Robotics and Automation Letters, 2 (3), pp. 1632-1639. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2017.2678538 ISSN 2377-3766

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Official URL: http://ieeexplore.ieee.org/document/7872413/

Abstract

Haptic rendering denotes the process of computing and displaying forces from a virtual environment to a human operator via a haptic device. From the control point of view, the complete haptic system comprising virtual environment, haptic device, and human operator is a hybrid control system that contains both discrete- and continuous-time elements. This letter investigates the influence of time delay on the theoretical optimal performance during haptic rendering with regard to minimal settling time, which belongs to the most frequently used design criteria in control engineering. It is shown that both continuous-time stiffness and damping of human operator or haptic device improve the optimal performance of the device. For the worst case, i.e., without such physical elements, the influence of delay on the optimal settling time becomes almost linear. This observation leads to an easy-to-remember rule of thumb for the optimal settling time that a haptic device should theoretically be able to reach. It states that each sampling period of additional time delay causes the optimal settling time (for a 2% position threshold) to increase by approximately five sampling periods. In this linear relation, the effect of discrete-time sampling appears to correspond to a delay of one whole sampling period. The theoretical investigations are accompanied by a series of experiments on a DLR/KUKA light-weight robot, which shows that the newly introduced rule of thumb also applies for single joints of complex robotic systems.

Item URL in elib:https://elib.dlr.de/112716/
Document Type:Article
Title:A Practically Linear Relation between Time Delay and the Optimal Settling Time of a Haptic Device
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hulin, Thomasthomas.hulin (at) dlr.deUNSPECIFIED
Date:March 2017
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:2
DOI :10.1109/LRA.2017.2678538
Page Range:pp. 1632-1639
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Haptic interfaces, Delays, Stability analysis, Damping, Performance evaluation, Optimal control, Virtual environments
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben OOS: Virtuelle Realität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Hulin, Thomas
Deposited On:14 Jun 2017 17:29
Last Modified:31 Jul 2019 20:10

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