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N. Diolaiti, G. Niemeyer, F. Barbagli, J. K. Salisbury
"A Passivity Criterion for Haptic Devices"
 
Type Conference
Author(s) N. Diolaiti, G. Niemeyer, F. Barbagli, J. K. Salisbury
Title A Passivity Criterion for Haptic Devices
Editor ICRA 2005 - IEEE International Conference on Robotics and Automation
Keywords Haptic Interfaces, Quantization, Coulomb Friction, Passivity, Virtual Walls
Abstract
Rendering a stiff virtual wall remains a core challenge in the field of haptics. A passivity study of this problem is presented, which relates the maximum achievable wall stiffness to the system discretization and sampling delays, to the quantization of the encoder, to the inertia of the haptic device, as well as to both the natural viscous and Coulomb damping present in the haptic device. The resulting stability criterion generalizes previously known results. Its analytic derivation is verified in both simulation and experiments on a one degree of freedom testbed.
Document e944.Document.pdf (231741 bytes)
Year 2005


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