Improved passivity criterion in haptic rendering: influence of Coulomb and viscous friction

Mashayekhi, Ahmad; Boozarjomehry, Ramin Bozorgmehry; Nahvi, Ali; Meghdari, Ali; Asgari, Pouya

doi:10.1080/01691864.2014.894940

Cited by 14 publications

(6 citation statements)

References 11 publications

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“…Another paper from Mashayekhi et al 42 is included as it is quite different from their previous work. 46 This paper identify the need to extend the stability criterion developed in a previous paper 45 to work for both small and large values for damping as well as time delay. While the increased range of these two parameters are thoroughly studied in this paper, the authors also claim that any other dynamic effect can be accommodated in the framework as long as it is linear.…”

Section: Instability Factorsmentioning

confidence: 96%

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Haptic force rendering of rigid-body interactions: A systematic review

Wang

Feng

Andersson

2021

Advances in Mechanical Engineering

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Haptic rendering has been developing for decades with different rendering approaches and many factors that affect the stability when rendering rigid-body interactions have been investigated. To get an overall understanding of the challenges in haptic rendering, we approach this topic by conducting a systematic review. This review examines different haptic rendering approaches and how to deal with instability factors in rendering. A total of 25 papers are reviewed to answer the following questions: (1) what are the most common haptic rendering approaches for rigid-body interaction? and (2) what are the most important factors for instability of haptic rendering and how to address them? Through the process of investigating these questions, we get the insight that transparency can be further explored and technical terms to describe haptic rendering can be more standardized to push the topic forward.

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Section: Instability Factorsmentioning

confidence: 96%

“…Mashayekhi et al 46 conduct a study to improve the passivity criterion proposed previously by Diolaiti et al 47 They use analytical and numerical methods to prove that the new criterion is more accurate with lowspeed cases while they consider experiment as future work.…”

Section: Instability Factorsmentioning

confidence: 99%

Haptic force rendering of rigid-body interactions: A systematic review

Wang

Feng

Andersson

2021

Advances in Mechanical Engineering

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“…In references such as 13,14 and later improved in 15 it is shown that minimum dissipated energy due to Coulomb friction is more than the maximum generated energy due to quantization and sampling, in most of the famous haptic devices. Thus these nonlinear phenomena can be removed by each other, leading to Figure 3, as used in many references such as.…”

Section: System Descriptionmentioning

confidence: 99%

A Review on stability and passivity analysis of haptic devices

Mashayekhi¹,

Akhoundi²,

Modanloo³

2022

IRATJ

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Haptic devices are robots that are used for simulating virtual objects for their operators. Since most real objects can be modelled by spring and dampers, the virtual object is also a (discrete) spring and damper. The discretization is done with a constant sampling time, while a time delay may exist in the control loop, due to do different sources. Simulating stiff objects is a challenging problem since severe vibrations occur in the body of the haptic device and may damage itself or even its operator. The stable operation of a haptic device is a key problem in all haptic applications. It is shown that using smaller values of sampling time and time delay, can make an increase in the stability domain; while increasing effective mass and friction has the same result. In this paper, a review of the stability and passivity of haptic devices is presented and helps the readers to know better recent activities in this field.

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“…Although an actual haptics controller contains several non-linear phenomena like Coulomb friction, quantization, human operator dynamics, actuator saturation, and unilateral constraint, the same are avoided here. The reason being: quantization induced energy can be dissipated by Coulomb friction [13,14]; and, in most cases human operator adds stability to a haptic device by reinforcement of his own damping [7,8].…”

Section: Dual-rate Haptics Controllermentioning

confidence: 99%

Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method

Ganiny

Koul

Ahmad

2021

Lecture Notes in Mechanical Engineering

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In this paper, the classical discrete-time root-locus method is extended for analyzing the stability of a dual-rate haptics controller. The given controller involves two closed-loop feedback gains, damping and stiffness (of the virtual wall), implemented at different sampling rates. Owing to the multi-variable and multi-rate nature of such controllers, analyzing their stability by the direct application of the root-locus method is not feasible. At the outset, the characteristic equation of the controller is thereby set up in a suitable mathematical form amenable to the rootlocus analysis. Thereafter the analysis is carried out by sequentially considering the damping and stiffness as feedback gains. Besides helping in establishing the stability bounds readily, the classical discrete-time root-locus method provides qualitative information about the stability contours of the dual-rate haptics controller.

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Improved passivity criterion in haptic rendering: influence of Coulomb and viscous friction

Cited by 14 publications

References 11 publications

Haptic force rendering of rigid-body interactions: A systematic review

Haptic force rendering of rigid-body interactions: A systematic review

A Review on stability and passivity analysis of haptic devices

Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method

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