The effect of discretization techniques on uncoupled stability of haptic simulation systems
The effect of discretization techniques on uncoupled stability of haptic simulation systems
复制标题
离散技术对触觉模拟系统非耦合稳定性的影响
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
K. Hashtrudi
中科院分区：
文献类型：
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作者：
Daniel Cleveland;K. Hashtrudi
触觉模拟系统允许人类用户通过被称为触觉接口的机器人机制与虚拟环境模型进行动觉交互。可以在触觉模拟系统中稳定呈现的环境动态的范围由许多因素确定，包括在离散时间域中实现虚拟环境的方法。解耦稳定性，即系统不与任何用户连接时的稳定性，被认为是阻抗型接口最严格的稳定性条件之一。在这项工作中，我们分析和实验研究系统解耦稳定性条件的各种离散实现的阻尼弹簧环境时，位置或速度采样。结果指出，在不同的范围内的环境动力学适合于各种应用。
Haptic simulation systems allow human users to kinesthetically interact with virtual environment models through a robotic mechanism known as a haptic interface. The range of environment dynamics that can be stably rendered in a haptic simulation system is determined by a number of factors, including the method by which the virtual environment is implemented in discrete-time domain. Uncoupled stability, the stability of the system when it is not interfaced to any user, is regarded as one of the most stringent stability conditions for impedance-type interfaces. In this work, we analytically and experimentally investigate the system uncoupled stability conditions for various discrete implementation of damper-spring environments when position or velocity is sampled. The results point at different ranges of environment dynamics suitable for various applications.