DocumentCode
3316738
Title
On the Z-width limitation due to the vibration modes of haptic interfaces
Author
Gil, Jorge Juan ; Puerto, Mildred J. ; Díaz, Iñaki ; Sánchez, Emilio
Author_Institution
Appl. Mech. Dept., CEIT, San Sebastián, Spain
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
5054
Lastpage
5059
Abstract
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.
Keywords
control engineering computing; haptic interfaces; mechanical contact; rendering (computer graphics); robot kinematics; vibrations; PHANToM 1.0 haptic interface; haptic rendering; internal vibration modes; linear model; maximum achievable impedances; mechanical interface; stability boundary; z-width limitation; Haptic systems; Stability; Vibration modes;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5650475
Filename
5650475
Link To Document