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
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