2011
IMAACA 2011 Proceeding
Stability Analysis of 1 DOF Haptic Interface: Time Delay and Vibration Modes Effects
Authors: Quoc Viet Dang, Antoine Dequidt, Laurent Vermeiren, Michel Dambrine
Abstract
Stability analysis continues to be a major challenge in the haptic field. This paper addresses the issue of stability for haptic interfaces in contact with a virtual wall. The feedback contact force is calculated from the impedance-based virtual environment model including a linear stiffness and a damping. A mechanical model includes two vibration modes used to characterize the overall device dynamics. Their effects on the stability and those of the time delay are examined. The stability boundary is derived from a sampled data model of the haptic interface by the gain margin method.
I3M Scientific Sponsors
I3M Industrial Sponsors
I3M Media Sponsors
