Hulin, Thomas und Preusche, Carsten und 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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Kurzfassung
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.
elib-URL des Eintrags: | https://elib.dlr.de/46899/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | ||||||||||||||||
Titel: | Stability Boundary and Design Criteria for Haptic Rendering of Virtual Walls | ||||||||||||||||
Autoren: |
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Datum: | September 2006 | ||||||||||||||||
Erschienen in: | Proceedings | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Haptic Rendering, Virtual Spring, Virtual Damper, PD-Control, Stability Boundary, Virtual Wall | ||||||||||||||||
Veranstaltungstitel: | SYROCO 2006 (8th International IFAC Symposium on Robot Control) | ||||||||||||||||
Veranstaltungsort: | Bologna, Italy | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 6 September 2006 | ||||||||||||||||
Veranstaltungsende: | 8 September 2006 | ||||||||||||||||
Veranstalter : | IFAC | ||||||||||||||||
HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||
HGF - Programm: | Weltraum (alt) | ||||||||||||||||
HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Weltraum | ||||||||||||||||
DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | W - Weiterentwicklung Robotik - Telerobotik und Autonomie (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||
Hinterlegt von: | Hulin, Dr. Thomas | ||||||||||||||||
Hinterlegt am: | 07 Feb 2007 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:09 |
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