On the Z-width limitation due to the vibration modes of haptic interfaces

This paper addresses the effect of internal vibration modes on the stability boundary for haptic rendering. A linear model that includes two vibration modes has been used to characterize one degree-of-freedom of the PHANToM 1.0 haptic interface, and predict the maximum achievable impedances for haptic rendering. The theoretical and experimental results show that the vibration modes of the mechanical interface significantly limit the Z-width of the haptic system.