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HAPTICS
2005
IEEE

The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering

10 years 4 months ago
The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering
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 and quantization of position measurements interact with the inertia, natural viscous, and Coulomb damping of the haptic device. The resulting stability criterion generalizes previously known conditions. Simulations and experimental results support the theoretical analysis based on the passivity and describing function approaches.
Nicola Diolaiti, Günter Niemeyer, Federico Ba
Added 24 Jun 2010
Updated 24 Jun 2010
Type Conference
Year 2005
Where HAPTICS
Authors Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, John Kenneth Salisbury Jr., Claudio Melchiorri
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