Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Stability Analysis of a Haptic System with a First-Order-Hold Method

일차 홀드 방식의 반력 구현 시스템에 대한 안정성 해석

  • Lee, Kyungno (Department of Energy System Engineering, Korea National University of Transportation)
  • 이경노 (한국교통대학교 에너지시스템공학과)
  • Received : 2013.10.01
  • Accepted : 2013.11.28
  • Published : 2014.04.01
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Abstract

This paper presents the effect of a reflective force computed from a first-order-hold method on the stability of a haptic system. A haptic system is composed of a haptic device with a mass and a damper, a virtual spring, a sampler and a sample-and-hold. The boundary condition of the maximum virtual stiffness is analytically derived by using the Routh-Hurwitz criterion and the condition shows that the maximum virtual stiffness is proportional to the square root of the mass and the damper of a haptic device and also is inversely proportional to the sampling time to the power of three over two. The effectiveness of the derived condition is evaluated by the simulation. When the reflective forces are computed by using the first-order-hold method, the maximum available stiffness to guarantee the stability is increased several hundred times as large as when the zero-order-hold method is applied.

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References

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