Influence of internal vibration modes on the stability of haptic rendering

被引：7
|
作者：
Diaz, Inaki [1 ]
Gil, Jorge Juan [1 ]
机构：
[1] CEIT, Dept Appl Mech, E-20018 San Sebastian, Spain
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年
关键词：
haptic systems; stability; vibrations;
D O I：
10.1109/ROBOT.2008.4543647
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Developing stable controllers able to exhibit a wide dynamic range of impedances is a persistent challenge in the field of haptics. This paper addresses the effect of internal vibration modes on the stability boundary for haptic rendering. A theoretical study that analyzes the influence of the first resonant mode on the maximum achievable impedance is presented. Experiments carried out on the LHIfAM haptic interface support the theoretical conclusions. A control architecture that overcomes the undesired effect of the resonant mode on the stability is also described.
引用
收藏
页码：2884 / 2889
页数：6
相关论文
共 50 条
  • [1] Influence of Vibration Modes and Human Operator on the Stability of Haptic Rendering
    Diaz, Inaki
    Juan Gil, Jorge
    IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (01) : 160 - 165
  • [2] Stability boundary for haptic rendering:: Influence of damping and delay
    Gil, Jorge Juan
    Sanchez, Emilio
    Hulin, Thomas
    Preusche, Carsten
    Hirzinger, Gerd
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 124 - 129
  • [3] Stability Boundary for Haptic Rendering: Influence of Human Operator
    Hulin, Thomas
    Preusche, Carsten
    Hirzinger, Gerd
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, : 3483 - 3488
  • [4] Stability Boundary for Haptic Rendering: Influence of Damping and Delay
    Juan Gil, Jorge
    Sanchez, Emilio
    Hulin, Thomas
    Preusche, Carsten
    Hirzinger, Gerd
    JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING, 2009, 9 (01) : 1 - 8
  • [5] Influence of human operator on stability of haptic rendering: a closed-form equation
    Mashayekhi, Ahmad
    Behbahani, Saeed
    Ficuciello, Fanny
    Siciliano, Bruno
    INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2020, 4 (04) : 403 - 415
  • [6] Influence of human operator on stability of haptic rendering: a closed-form equation
    Ahmad Mashayekhi
    Saeed Behbahani
    Fanny Ficuciello
    Bruno Siciliano
    International Journal of Intelligent Robotics and Applications, 2020, 4 : 403 - 415
  • [7] Synergistic visual/haptic rendering modes for scientific visualization
    Lawrence, DA
    Pao, LY
    Lee, CD
    Novoselov, RY
    IEEE COMPUTER GRAPHICS AND APPLICATIONS, 2004, 24 (06) : 22 - 30
  • [8] Combined visual/haptic rendering modes for scientific visualization
    Infed, Farid
    Lawrence, Dale A.
    Brown, Shane V.
    Dougherty, Anne M.
    Lee, Christopher D.
    Pao, Lucy Y.
    American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, 1999, 67 : 93 - 99
  • [9] Perceptually transparent vibration rendering using a vibration motor for haptic interaction
    Ryu, Jonghyun
    Jung, Jaehoon
    Kim, Seojoon
    Choi, Seungmoon
    2007 RO-MAN: 16TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1-3, 2007, : 309 - 314
  • [10] Haptic Rendering based on Finite Element Simulation of Vibration
    Susa, Ikumi
    Takehana, Yukinobu
    Balandra, Alfonso
    Mitake, Hironori
    Hasegawa, Shoichi
    2014 IEEE HAPTICS SYMPOSIUM (HAPTICS), 2014, : 123 - 128
12345