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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.

Item URL in elib:https://elib.dlr.de/46899/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Stability Boundary and Design Criteria for Haptic Rendering of Virtual Walls
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hulin, ThomasUNSPECIFIEDUNSPECIFIED
Preusche, CarstenUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Date:September 2006
Journal or Publication Title:Proceedings
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
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 (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 - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Hulin, Thomas
Deposited On:07 Feb 2007
Last Modified:31 Jul 2019 19:18

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