news!
people
activities
equipments
publications
collaborations
past_activities
links
search
  
 > Home > Publications >

N. Diolaiti, G. Niemeyer, F. Barbagli, J. K. Salisbury
"Stability of Haptic Rendering: Quantization, Discretization, Time-Delay and Coulomb Effects"
 
Type Article
Author(s) N. Diolaiti, G. Niemeyer, F. Barbagli, J. K. Salisbury
Title Stability of Haptic Rendering: Quantization, Discretization, Time-Delay and Coulomb Effects
Editor IEEE Transaction on Robotics, Vol. 22, No. 2, April 2006
Keywords Haptic Interfaces, Quantization, Coulomb Friction, Amplifier Dynamics, Passivity, Virtual Objects
Abstract
Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate, quantization of position measurements, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic device. The resulting stability criterion generalizes previously known conditions. Built around a passivity evaluation, this work also integrates a describing function analysis, as well as simulation and experimental data to support the findings.
Notes
The file corresponds to the paper version accepted for future publication. It is made available here only for early dissemination purposes; please note that Copyright holder is IEEE.
Document a986.Document.pdf (582199 bytes)
Year 2005


pick and add to your personal selectionexplain the meaning of the fieldsHOMELOGIN (you are guest)   Web Oriented Database Home
Copyright 2000, DEIS - University of Bologna. All rights reserved.
Send an e-mail to the WebMaster