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N. Diolaiti, G. Niemeyer, F. Barbagli, J. K. Salisbury, C. Melchiorri
"The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering"
 
Type Conference
Author(s) N. Diolaiti, G. Niemeyer, F. Barbagli, J. K. Salisbury, C. Melchiorri
Title The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering
Editor World Haptics Conference 2005
Keywords Haptic Rendering, Discretization, Quantization, Coulomb Friction, Passivity.
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 and quantization of position measurements interact with the inertia, natural viscous, and Coulomb damping of the haptic device. The resulting stability criterion generalizes previously known conditions. Simulations and experimental results support the theoretical analysis based on the passivity and describing function approaches.
Notes

Best Paper Award and Best Student Paper Award Finalist

This downloadable version is slightly longer than the officially published paper.

Document ab95.Document.pdf (311097 bytes)
Year 2005


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