| contributor author | Jorge Juan Gil | |
| contributor author | Thomas Hulin | |
| contributor author | Carsten Preusche | |
| contributor author | Emilio Sánchez | |
| contributor author | Gerd Hirzinger | |
| date accessioned | 2017-05-09T00:32:04Z | |
| date available | 2017-05-09T00:32:04Z | |
| date copyright | March, 2009 | |
| date issued | 2009 | |
| identifier issn | 1530-9827 | |
| identifier other | JCISB6-26000#011005_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/140147 | |
| description 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). | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Stability Boundary for Haptic Rendering: Influence of Damping and Delay | |
| type | Journal Paper | |
| journal volume | 9 | |
| journal issue | 1 | |
| journal title | Journal of Computing and Information Science in Engineering | |
| identifier doi | 10.1115/1.3074283 | |
| journal fristpage | 11005 | |
| identifier eissn | 1530-9827 | |
| keywords | Stability | |
| keywords | Damping | |
| keywords | Delays | |
| keywords | Haptics | |
| keywords | Stiffness AND Sampling (Acoustical engineering) | |
| tree | Journal of Computing and Information Science in Engineering:;2009:;volume( 009 ):;issue: 001 | |
| contenttype | Fulltext | |
