Analyzing stability of haptic interface using linear matrix inequality approach

Author

Dang, Q.V. ; Vermeiren, Laurent ; Dequidt, Antoine ; Dambrine, Michel

Author_Institution

Lab. d´Autom., de Mec. et d´Inf. Industrielles et Humaines, Univ. de Valenciennes et du Hainaut-Cambresis, Valenciennes, France

fYear

2012

fDate

11-14 Dec. 2012

Firstpage

1129

Lastpage

1134

Abstract

This paper presents a use of the linear matrix inequality approach to analyze stability of haptic device in the interaction with a virtual wall. The haptic device is modeled as a 1-DoF (Degree of Freedom) linear mechanical system composed of masses, springs and dampers. The virtual wall is modeled as a mechanical system composed of a virtual spring and damper. The paper investigates a discrete-time state-space representation of the haptic system by taken into account the effect of ZOH (Zero Order Holder). The second method of Lyapunov is applied to determine stability boundaries. These boundaries are characterized by the critical virtual stiffness, for several values of delay and virtual damping. The qualitative modification of stable region of the haptic interface under the influence of the flexible mode, the human operator model and the time delay are also presented.

Keywords

delays; haptic interfaces; shock absorbers; springs (mechanical); vibration control; Lyapunov second method; ZOH; Zero Order Holder; dampers; discrete-time state-space representation; haptic device; haptic interface; haptic system; human operator model; linear matrix inequality approach; linear mechanical system; masses; springs; stability analysis; stability boundaries; time delay; virtual damping; virtual stiffness; virtual wall;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

978-1-4673-2125-9

Type

conf

DOI

10.1109/ROBIO.2012.6491121

Filename

6491121