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

fYear

2007

fDate

10-14 April 2007

Firstpage

124

Lastpage

129

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.363775

Filename

4209080