STABILITY BOUNDARY AND DESIGN CRITERIA FOR HAPTIC RENDERING OF VIRTUAL WALLS
| Autor: | Thomas Hulin, Gerd Hirzinger, Carsten Preusche |
|---|---|
| Rok vydání: | 2006 |
| Předmět: |
Engineering
Stability Boundary business.industry Boundary (topology) Virtual Wall General Medicine PD-Control Haptic rendering Virtual Damper Transfer function Stability (probability) Action (physics) Haptic Rendering Set (abstract data type) Sampling (signal processing) Control theory business Virtual Spring Robotersysteme Haptic technology |
| Zdroj: | IFAC Proceedings Volumes. 39:322-327 |
| ISSN: | 1474-6670 |
| DOI: | 10.3182/20060906-3-it-2910.00055 |
| Popis: | This paper is about haptic simulations of virtual walls, which are represented by a discrete PD-control. A normalized discrete-time transfer function is used to derive the fundamental stability boundaries for this problem. Hereby, the case of direct action and the more often case of an one sampling step delayed action are addressed. Inside the stable region the set of all parameters was determined that result in real system poles. Furthermore, three different design criteria are compared to find optimum control parameters for the virtual wall. Finally, important conclusions for haptic simulations are derived. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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