Stability Boundary for Haptic Rendering: Influence of Damping and Delay

The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM).

[1]  Diego Borro,et al.  A large haptic device for aircraft engine maintainability , 2004, IEEE Computer Graphics and Applications.

[2]  Alin Albu-Schäffer,et al.  DLR's torque-controlled light weight robot III-are we reaching the technological limits now? , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[3]  Vincent Hayward,et al.  On The Use of Eddy Current Brakes as Tunable, Fast Turn-On Viscous Dampers For Haptic Rendering , 2006 .

[4]  Blake Hannaford,et al.  Stable haptic interaction with virtual environments , 1999, IEEE Trans. Robotics Autom..

[5]  Thomas Hulin,et al.  Stability Boundary for Haptic Rendering: Influence of Physical Damping , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  J. Edward Colgate,et al.  Increasing the impedance range of a haptic display by adding electrical damping , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[7]  J. Edward Colgate,et al.  Factors affecting the Z-Width of a haptic display , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[8]  Thomas Hulin,et al.  Haptic rendering for virtual assembly verification , 2005 .

[9]  John Kenneth Salisbury,et al.  Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects , 2006, IEEE Transactions on Robotics.

[10]  Allison M. Okamura,et al.  Effects of position quantization and sampling rate on virtual-wall passivity , 2005, IEEE Transactions on Robotics.

[11]  Wayne J. Book,et al.  Effects of increased device dissipation on haptic two-port network performance , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[12]  Katsuhiko Ogata,et al.  Modern Control Engineering , 1970 .

[13]  John Kenneth Salisbury,et al.  The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[14]  Woon-Sung Lee,et al.  A driving simulator as a virtual reality tool , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[15]  Yunhui Liu,et al.  Haptic modeling and experimental validation for interactive endodontic simulation , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[16]  Thomas Hulin,et al.  Stability Boundary and Design Criteria for Haptic Rendering of Virtual Walls , 2006 .

[17]  J. Edward Colgate,et al.  Passivity of a class of sampled-data systems: Application to haptic interfaces , 1997 .

[18]  Vincent Hayward,et al.  Discrete-time adaptive windowing for velocity estimation , 2000, IEEE Trans. Control. Syst. Technol..

[19]  S. E. Salcudean,et al.  On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input/Output Devic , 1997 .

[20]  Angel Rubio,et al.  Stability analysis of a 1 DOF haptic interface using the Routh-Hurwitz criterion , 2004, IEEE Transactions on Control Systems Technology.

[21]  Diego Borro,et al.  Description of a haptic system for virtual maintainability in aeronautics , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.