Stability Boundary for Haptic Rendering : Influence of Damping and Delay
Identifieur interne : 004844 ( Main/Exploration ); précédent : 004843; suivant : 004845Stability Boundary for Haptic Rendering : Influence of Damping and Delay
Auteurs : Jorge Juan Gil [Espagne] ; Emilio Sanchez [Espagne] ; Thomas Hulin [Allemagne] ; Carsten Preusche [Allemagne] ; Gerd Hirzinger [Allemagne]Source :
- Journal of computing and information science in engineering [ 1530-9827 ] ; 2009.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
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).
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 000783
- to stream PascalFrancis, to step Curation: 000C49
- to stream PascalFrancis, to step Checkpoint: 000535
- to stream Main, to step Merge: 004928
- to stream Main, to step Curation: 004844
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Stability Boundary for Haptic Rendering : Influence of Damping and Delay</title><author><name sortKey="Gil, Jorge Juan" sort="Gil, Jorge Juan" uniqKey="Gil J" first="Jorge Juan" last="Gil">Jorge Juan Gil</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Applied Mechanics, CEIT and TECNUN, University of Navarra</s1><s2>San Sebastián 20018</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Sanchez, Emilio" sort="Sanchez, Emilio" uniqKey="Sanchez E" first="Emilio" last="Sanchez">Emilio Sanchez</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Applied Mechanics, CEIT and TECNUN, University of Navarra</s1><s2>San Sebastián 20018</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Hulin, Thomas" sort="Hulin, Thomas" uniqKey="Hulin T" first="Thomas" last="Hulin">Thomas Hulin</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen</s1><s2>Weling 82234</s2> <s3>DEU</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>82234</wicri:noRegion><wicri:noRegion>Oberpfaffenhofen</wicri:noRegion><wicri:noRegion>Weling 82234</wicri:noRegion> </affiliation></author><author><name sortKey="Preusche, Carsten" sort="Preusche, Carsten" uniqKey="Preusche C" first="Carsten" last="Preusche">Carsten Preusche</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen</s1><s2>Weling 82234</s2> <s3>DEU</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>82234</wicri:noRegion><wicri:noRegion>Oberpfaffenhofen</wicri:noRegion><wicri:noRegion>Weling 82234</wicri:noRegion> </affiliation></author><author><name sortKey="Hirzinger, Gerd" sort="Hirzinger, Gerd" uniqKey="Hirzinger G" first="Gerd" last="Hirzinger">Gerd Hirzinger</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen</s1><s2>Weling 82234</s2> <s3>DEU</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>82234</wicri:noRegion><wicri:noRegion>Oberpfaffenhofen</wicri:noRegion><wicri:noRegion>Weling 82234</wicri:noRegion> </affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">09-0231101</idno><date when="2009">2009</date><idno type="stanalyst">PASCAL 09-0231101 INIST</idno><idno type="RBID">Pascal:09-0231101</idno><idno type="wicri:Area/PascalFrancis/Corpus">000783</idno><idno type="wicri:Area/PascalFrancis/Curation">000C49</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000535</idno><idno type="wicri:doubleKey">1530-9827:2009:Gil J:stability:boundary:for</idno><idno type="wicri:Area/Main/Merge">004928</idno><idno type="wicri:Area/Main/Curation">004844</idno><idno type="wicri:Area/Main/Exploration">004844</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Stability Boundary for Haptic Rendering : Influence of Damping and Delay</title><author><name sortKey="Gil, Jorge Juan" sort="Gil, Jorge Juan" uniqKey="Gil J" first="Jorge Juan" last="Gil">Jorge Juan Gil</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Applied Mechanics, CEIT and TECNUN, University of Navarra</s1><s2>San Sebastián 20018</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Sanchez, Emilio" sort="Sanchez, Emilio" uniqKey="Sanchez E" first="Emilio" last="Sanchez">Emilio Sanchez</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Applied Mechanics, CEIT and TECNUN, University of Navarra</s1><s2>San Sebastián 20018</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Pays basque</region></placeName></affiliation></author><author><name sortKey="Hulin, Thomas" sort="Hulin, Thomas" uniqKey="Hulin T" first="Thomas" last="Hulin">Thomas Hulin</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen</s1><s2>Weling 82234</s2> <s3>DEU</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>82234</wicri:noRegion><wicri:noRegion>Oberpfaffenhofen</wicri:noRegion><wicri:noRegion>Weling 82234</wicri:noRegion> </affiliation></author><author><name sortKey="Preusche, Carsten" sort="Preusche, Carsten" uniqKey="Preusche C" first="Carsten" last="Preusche">Carsten Preusche</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen</s1><s2>Weling 82234</s2> <s3>DEU</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>82234</wicri:noRegion><wicri:noRegion>Oberpfaffenhofen</wicri:noRegion><wicri:noRegion>Weling 82234</wicri:noRegion> </affiliation></author><author><name sortKey="Hirzinger, Gerd" sort="Hirzinger, Gerd" uniqKey="Hirzinger G" first="Gerd" last="Hirzinger">Gerd Hirzinger</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen</s1><s2>Weling 82234</s2> <s3>DEU</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Allemagne</country><wicri:noRegion>82234</wicri:noRegion><wicri:noRegion>Oberpfaffenhofen</wicri:noRegion><wicri:noRegion>Weling 82234</wicri:noRegion> </affiliation></author></analytic><series><title level="j" type="main">Journal of computing and information science in engineering</title><title level="j" type="abbreviated">J. comput. inf. sci. eng.</title><idno type="ISSN">1530-9827</idno><imprint><date when="2009">2009</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Journal of computing and information science in engineering</title><title level="j" type="abbreviated">J. comput. inf. sci. eng.</title><idno type="ISSN">1530-9827</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Aeronautics</term><term>Delay</term><term>Delay system</term><term>Linear condition</term><term>Low frequency</term><term>Maintainability</term><term>Robotics</term><term>Sampling frequency</term><term>Tactile sensitivity</term><term>User interface</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Retard</term><term>Robotique</term><term>Interface utilisateur</term><term>Sensibilité tactile</term><term>Régime linéaire</term><term>Fréquence échantillonnage</term><term>Basse fréquence</term><term>Aéronautique</term><term>Système à retard</term><term>Maintenabilité</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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).</div></front></TEI><affiliations><list><country><li>Allemagne</li><li>Espagne</li></country><region><li>Pays basque</li></region></list><tree><country name="Espagne"><region name="Pays basque"><name sortKey="Gil, Jorge Juan" sort="Gil, Jorge Juan" uniqKey="Gil J" first="Jorge Juan" last="Gil">Jorge Juan Gil</name></region><name sortKey="Sanchez, Emilio" sort="Sanchez, Emilio" uniqKey="Sanchez E" first="Emilio" last="Sanchez">Emilio Sanchez</name></country><country name="Allemagne"><noRegion><name sortKey="Hulin, Thomas" sort="Hulin, Thomas" uniqKey="Hulin T" first="Thomas" last="Hulin">Thomas Hulin</name></noRegion><name sortKey="Hirzinger, Gerd" sort="Hirzinger, Gerd" uniqKey="Hirzinger G" first="Gerd" last="Hirzinger">Gerd Hirzinger</name><name sortKey="Preusche, Carsten" sort="Preusche, Carsten" uniqKey="Preusche C" first="Carsten" last="Preusche">Carsten Preusche</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004844 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 004844 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Pascal:09-0231101
|texte= Stability Boundary for Haptic Rendering : Influence of Damping and Delay
}}
| This area was generated with Dilib version V0.6.23. |  |