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Serveur d'exploration sur les dispositifs haptiques

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Stability of haptic rendering : Discretization, quantization, time delay, and coulomb effects

Identifieur interne : 000C65 ( PascalFrancis/Corpus ); précédent : 000C64; suivant : 000C66

Stability of haptic rendering : Discretization, quantization, time delay, and coulomb effects

Auteurs : Nicola Diolaiti ; Günter Niemeyer ; Federico Barbagli ; J. Kenneth Jr Salisbury

Source :

RBID : Pascal:06-0446703

Descripteurs français

English descriptors

Abstract

Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate, quantization, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic device. Nonlinear effects create distinct stability regions, and many common devices operate stably, yet in violation of passivity criteria. An energy-based approach provides theoretical insights, supported by simulations, experimental data, and a describing function analysis. The presented results subsume previously known stability conditions.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

pA  
A01 01  1    @0 1552-3098
A03   1    @0 IEEE trans. robot.
A05       @2 22
A06       @2 2
A08 01  1  ENG  @1 Stability of haptic rendering : Discretization, quantization, time delay, and coulomb effects
A11 01  1    @1 DIOLAITI (Nicola)
A11 02  1    @1 NIEMEYER (Günter)
A11 03  1    @1 BARBAGLI (Federico)
A11 04  1    @1 SALISBURY (J. Kenneth JR)
A14 01      @1 Department of Electronics, Computer Science and Systems, University of Bologna @2 40136 Bologna @3 ITA @Z 1 aut.
A14 02      @1 Stanford AI-Robotics Laboratory @2 Stanford, CA 94305 @3 USA @Z 1 aut.
A14 03      @1 Stanford Telerobotics Lab, Stanford University @2 Stanford, CA 94305 @3 USA @Z 2 aut.
A14 04      @1 Stanford AI-Robotics Lab, Stanford University @2 Stanford, CA 94305 @3 USA @Z 3 aut. @Z 4 aut.
A20       @1 256-268
A21       @1 2006
A23 01      @0 ENG
A43 01      @1 INIST @2 21023A @5 354000156797080040
A44       @0 0000 @1 © 2006 INIST-CNRS. All rights reserved.
A45       @0 22 ref.
A47 01  1    @0 06-0446703
A60       @1 P
A61       @0 A
A64 01  1    @0 IEEE transactions on robotics
A66 01      @0 USA
C01 01    ENG  @0 Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate, quantization, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic device. Nonlinear effects create distinct stability regions, and many common devices operate stably, yet in violation of passivity criteria. An energy-based approach provides theoretical insights, supported by simulations, experimental data, and a describing function analysis. The presented results subsume previously known stability conditions.
C02 01  X    @0 001D02D11
C03 01  X  FRE  @0 Boucle commande @5 06
C03 01  X  ENG  @0 Control loop @5 06
C03 01  X  SPA  @0 Bucle control @5 06
C03 02  X  FRE  @0 Frottement sec @5 07
C03 02  X  ENG  @0 Dry friction @5 07
C03 02  X  SPA  @0 Frotamiento seco @5 07
C03 03  X  FRE  @0 Domaine stabilité @5 08
C03 03  X  ENG  @0 Stability region @5 08
C03 03  X  SPA  @0 Dominio estabilidad @5 08
C03 04  X  FRE  @0 Passivité @5 09
C03 04  X  ENG  @0 Passivity @5 09
C03 04  X  SPA  @0 Pasividad @5 09
C03 05  X  FRE  @0 Sensibilité tactile @5 18
C03 05  X  ENG  @0 Tactile sensitivity @5 18
C03 05  X  SPA  @0 Sensibilidad tactil @5 18
C03 06  X  FRE  @0 Temps différé @5 19
C03 06  X  ENG  @0 Delayed time @5 19
C03 06  X  SPA  @0 Tiempo diferido @5 19
C03 07  X  FRE  @0 Amplificateur @5 20
C03 07  X  ENG  @0 Amplifier @5 20
C03 07  X  SPA  @0 Amplificador @5 20
C03 08  X  FRE  @0 Inertie @5 21
C03 08  X  ENG  @0 Inertia @5 21
C03 08  X  SPA  @0 Inercia @5 21
C03 09  X  FRE  @0 Amortissement visqueux @5 22
C03 09  X  ENG  @0 Viscous damping @5 22
C03 09  X  SPA  @0 Amortiguación viscosa @5 22
C03 10  X  FRE  @0 Quantification signal @5 23
C03 10  X  ENG  @0 Signal quantization @5 23
C03 10  X  SPA  @0 Cuantificación señal @5 23
C03 11  X  FRE  @0 Traitement signal @5 24
C03 11  X  ENG  @0 Signal processing @5 24
C03 11  X  SPA  @0 Procesamiento señal @5 24
C03 12  X  FRE  @0 Temps retard @5 25
C03 12  X  ENG  @0 Delay time @5 25
C03 12  X  SPA  @0 Tiempo retardo @5 25
C03 13  X  FRE  @0 Effet non linéaire @5 26
C03 13  X  ENG  @0 Non linear effect @5 26
C03 13  X  SPA  @0 Efecto no lineal @5 26
C03 14  X  FRE  @0 Modélisation @5 27
C03 14  X  ENG  @0 Modeling @5 27
C03 14  X  SPA  @0 Modelización @5 27
C03 15  X  FRE  @0 Discrétisation @5 28
C03 15  X  ENG  @0 Discretization @5 28
C03 15  X  SPA  @0 Discretización @5 28
C03 16  X  FRE  @0 Taux échantillonnage @5 29
C03 16  X  ENG  @0 Sampling rate @5 29
C03 16  X  SPA  @0 Razón muestreo @5 29
C03 17  X  FRE  @0 Méthode énergétique @5 30
C03 17  X  ENG  @0 Energy method @5 30
C03 17  X  SPA  @0 Método energético @5 30
C03 18  X  FRE  @0 Fonction transfert généralisée @5 31
C03 18  X  ENG  @0 Describing function @5 31
C03 18  X  SPA  @0 Función transferencia generalizada @5 31
C03 19  X  FRE  @0 Etude expérimentale @5 33
C03 19  X  ENG  @0 Experimental study @5 33
C03 19  X  SPA  @0 Estudio experimental @5 33
N21       @1 296
N44 01      @1 OTO
N82       @1 OTO

Format Inist (serveur)

NO : PASCAL 06-0446703 INIST
ET : Stability of haptic rendering : Discretization, quantization, time delay, and coulomb effects
AU : DIOLAITI (Nicola); NIEMEYER (Günter); BARBAGLI (Federico); SALISBURY (J. Kenneth JR)
AF : Department of Electronics, Computer Science and Systems, University of Bologna/40136 Bologna/Italie (1 aut.); Stanford AI-Robotics Laboratory/Stanford, CA 94305/Etats-Unis (1 aut.); Stanford Telerobotics Lab, Stanford University/Stanford, CA 94305/Etats-Unis (2 aut.); Stanford AI-Robotics Lab, Stanford University/Stanford, CA 94305/Etats-Unis (3 aut., 4 aut.)
DT : Publication en série; Niveau analytique
SO : IEEE transactions on robotics; ISSN 1552-3098; Etats-Unis; Da. 2006; Vol. 22; No. 2; Pp. 256-268; Bibl. 22 ref.
LA : Anglais
EA : Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate, quantization, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic device. Nonlinear effects create distinct stability regions, and many common devices operate stably, yet in violation of passivity criteria. An energy-based approach provides theoretical insights, supported by simulations, experimental data, and a describing function analysis. The presented results subsume previously known stability conditions.
CC : 001D02D11
FD : Boucle commande; Frottement sec; Domaine stabilité; Passivité; Sensibilité tactile; Temps différé; Amplificateur; Inertie; Amortissement visqueux; Quantification signal; Traitement signal; Temps retard; Effet non linéaire; Modélisation; Discrétisation; Taux échantillonnage; Méthode énergétique; Fonction transfert généralisée; Etude expérimentale
ED : Control loop; Dry friction; Stability region; Passivity; Tactile sensitivity; Delayed time; Amplifier; Inertia; Viscous damping; Signal quantization; Signal processing; Delay time; Non linear effect; Modeling; Discretization; Sampling rate; Energy method; Describing function; Experimental study
SD : Bucle control; Frotamiento seco; Dominio estabilidad; Pasividad; Sensibilidad tactil; Tiempo diferido; Amplificador; Inercia; Amortiguación viscosa; Cuantificación señal; Procesamiento señal; Tiempo retardo; Efecto no lineal; Modelización; Discretización; Razón muestreo; Método energético; Función transferencia generalizada; Estudio experimental
LO : INIST-21023A.354000156797080040
ID : 06-0446703

Links to Exploration step

Pascal:06-0446703

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<s5>20</s5>
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<fC03 i1="07" i2="X" l="SPA">
<s0>Amplificador</s0>
<s5>20</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE">
<s0>Inertie</s0>
<s5>21</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG">
<s0>Inertia</s0>
<s5>21</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA">
<s0>Inercia</s0>
<s5>21</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE">
<s0>Amortissement visqueux</s0>
<s5>22</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG">
<s0>Viscous damping</s0>
<s5>22</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA">
<s0>Amortiguación viscosa</s0>
<s5>22</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE">
<s0>Quantification signal</s0>
<s5>23</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG">
<s0>Signal quantization</s0>
<s5>23</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA">
<s0>Cuantificación señal</s0>
<s5>23</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE">
<s0>Traitement signal</s0>
<s5>24</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG">
<s0>Signal processing</s0>
<s5>24</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA">
<s0>Procesamiento señal</s0>
<s5>24</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE">
<s0>Temps retard</s0>
<s5>25</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG">
<s0>Delay time</s0>
<s5>25</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA">
<s0>Tiempo retardo</s0>
<s5>25</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE">
<s0>Effet non linéaire</s0>
<s5>26</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG">
<s0>Non linear effect</s0>
<s5>26</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA">
<s0>Efecto no lineal</s0>
<s5>26</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE">
<s0>Modélisation</s0>
<s5>27</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG">
<s0>Modeling</s0>
<s5>27</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA">
<s0>Modelización</s0>
<s5>27</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE">
<s0>Discrétisation</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG">
<s0>Discretization</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA">
<s0>Discretización</s0>
<s5>28</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE">
<s0>Taux échantillonnage</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG">
<s0>Sampling rate</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA">
<s0>Razón muestreo</s0>
<s5>29</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE">
<s0>Méthode énergétique</s0>
<s5>30</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG">
<s0>Energy method</s0>
<s5>30</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA">
<s0>Método energético</s0>
<s5>30</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE">
<s0>Fonction transfert généralisée</s0>
<s5>31</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG">
<s0>Describing function</s0>
<s5>31</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA">
<s0>Función transferencia generalizada</s0>
<s5>31</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE">
<s0>Etude expérimentale</s0>
<s5>33</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG">
<s0>Experimental study</s0>
<s5>33</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA">
<s0>Estudio experimental</s0>
<s5>33</s5>
</fC03>
<fN21>
<s1>296</s1>
</fN21>
<fN44 i1="01">
<s1>OTO</s1>
</fN44>
<fN82>
<s1>OTO</s1>
</fN82>
</pA>
</standard>
<server>
<NO>PASCAL 06-0446703 INIST</NO>
<ET>Stability of haptic rendering : Discretization, quantization, time delay, and coulomb effects</ET>
<AU>DIOLAITI (Nicola); NIEMEYER (Günter); BARBAGLI (Federico); SALISBURY (J. Kenneth JR)</AU>
<AF>Department of Electronics, Computer Science and Systems, University of Bologna/40136 Bologna/Italie (1 aut.); Stanford AI-Robotics Laboratory/Stanford, CA 94305/Etats-Unis (1 aut.); Stanford Telerobotics Lab, Stanford University/Stanford, CA 94305/Etats-Unis (2 aut.); Stanford AI-Robotics Lab, Stanford University/Stanford, CA 94305/Etats-Unis (3 aut., 4 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IEEE transactions on robotics; ISSN 1552-3098; Etats-Unis; Da. 2006; Vol. 22; No. 2; Pp. 256-268; Bibl. 22 ref.</SO>
<LA>Anglais</LA>
<EA>Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate, quantization, computational delay, and amplifier dynamics interact with the inertia, natural viscous, and Coulomb damping of the haptic device. Nonlinear effects create distinct stability regions, and many common devices operate stably, yet in violation of passivity criteria. An energy-based approach provides theoretical insights, supported by simulations, experimental data, and a describing function analysis. The presented results subsume previously known stability conditions.</EA>
<CC>001D02D11</CC>
<FD>Boucle commande; Frottement sec; Domaine stabilité; Passivité; Sensibilité tactile; Temps différé; Amplificateur; Inertie; Amortissement visqueux; Quantification signal; Traitement signal; Temps retard; Effet non linéaire; Modélisation; Discrétisation; Taux échantillonnage; Méthode énergétique; Fonction transfert généralisée; Etude expérimentale</FD>
<ED>Control loop; Dry friction; Stability region; Passivity; Tactile sensitivity; Delayed time; Amplifier; Inertia; Viscous damping; Signal quantization; Signal processing; Delay time; Non linear effect; Modeling; Discretization; Sampling rate; Energy method; Describing function; Experimental study</ED>
<SD>Bucle control; Frotamiento seco; Dominio estabilidad; Pasividad; Sensibilidad tactil; Tiempo diferido; Amplificador; Inercia; Amortiguación viscosa; Cuantificación señal; Procesamiento señal; Tiempo retardo; Efecto no lineal; Modelización; Discretización; Razón muestreo; Método energético; Función transferencia generalizada; Estudio experimental</SD>
<LO>INIST-21023A.354000156797080040</LO>
<ID>06-0446703</ID>
</server>
</inist>
</record>

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