Sciweavers

Share
HAPTICS
2008
IEEE

DC Motor Damping: A Strategy to Increase Passive Stiffness of Haptic Devices

8 years 2 months ago
DC Motor Damping: A Strategy to Increase Passive Stiffness of Haptic Devices
Abstract. Physically dissipative damping can increase the range of passive stiffness that can be rendered by a haptic device. Unlike simulated damping it does not introduce noise into the haptic control system. A DC motor can generate such damping if it's terminals are shorted. We employ a configuration of the H-bridge which can cause this damping to impart stability to our haptic device. This results in an increase in passive wall stiffness of about 33.3% at a sampling rate of 100Hz and 16.6% at 1kHz over the performance of an undamped DC motor. We have also attempted to implement the system on the hybrid haptic control system [1], it was seen that a perceivable change in the performance of this system was not observed by the use of DC motor damping.
Manohar B. Srikanth, Hari Vasudevan, Manivannan Mu
Added 08 Dec 2010
Updated 08 Dec 2010
Type Conference
Year 2008
Where HAPTICS
Authors Manohar B. Srikanth, Hari Vasudevan, Manivannan Muniyandi
Comments (0)
books