Title :
Stability Boundary for Haptic Rendering: Influence of Damping and Delay
Author :
Gil, Jorge Juan ; Sánchez, Emilio ; Hulin, Thomas ; Preusche, Carsten ; Hirzinger, Gerd
Author_Institution :
CEIT & TECNUN, Navarra Univ., San Sebastian
Abstract :
The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition which summarizes the relation between virtual stiffness, viscous damping and delay is proposed. This condition is independent of the mass of the haptic device. The theoretical results are supported by simulations and experimental data using the DLR light-weight robot.
Keywords :
damping; delays; discrete time systems; haptic interfaces; robots; stability; DLR light-weight robot; discrete-time systems; haptic device; haptic rendering; haptic systems; stability boundary; time delay; virtual stiffness; viscous damping; Damping; Delay effects; Friction; Haptic interfaces; Industrial training; Mechatronics; Quantization; Robots; Stability; Virtual environment; Discrete-time systems; Haptic systems; Stability; Time delay;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363775
