Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects

Diolaiti, N.; Niemeyer, G.; Barbagli, Federico; Salisbury, J. Kenneth

doi:10.1109/tro.2005.862487

Cited by 278 publications

(200 citation statements)

References 16 publications

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“…In this paper, we focus on how the two basic mechanical dissipation effects, dry friction and viscous damping, modify the core dynamics and stability behavior of sampled-data systems. Although there are several friction models exist with different levels of complexity [6,7], we will show that the simple Coulomb model with viscous damping can explain the dynamic behavior observed in [4,8] when the digital effects of the applied controller are also considered. This paper is organized as follows.…”

Section: Introductionmentioning

confidence: 85%

On the Stability of Digital Position Control with Viscous Damping and Coulomb Friction

Budai

Kovâcs

2017

Period. Polytech. Mech. Eng.

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Section: Introductionmentioning

confidence: 85%

On the Stability of Digital Position Control with Viscous Damping and Coulomb Friction

Budai

Kovâcs

2017

Period. Polytech. Mech. Eng.

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“…M h and B h are respectively the master's inertia and viscosity, as given in [23]. Due to the scale difference between the macro and the nanoworlds, two scaling factors must be introduced to connect the haptic interface and the molecule.…”

Section: Haptic Couplingmentioning

confidence: 99%

Comparing position and force control for interactive molecular simulators with haptic feedback

Bolopion¹,

Cagneau²,

Redon³

et al. 2010

Journal of Molecular Graphics and Modelling

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To cite this version:Aude Bolopion, Barthelemy Cagneau, Stephane Redon, Stéphane Régnier. Comparing position and force control for interactive molecular simulators with haptic feedback. Journal of Molecular Graphics and Modelling, Elsevier, 2010, 29 (2) AbstractThis paper presents a novel tool for the analysis of new molecular structures which enables a wide variety of manipulations. It is composed of a molecular simulator and a haptic device. The simulation software deals with systems of hundreds or thousands of degrees of freedom and computes the reconfiguration of the molecules in a few tenths of a second. For the ease of manipulation and to help the operator understand nanoscale phenomena, a haptic device is connected to the simulator. To handle a wide variety of applications, both position and force control are implemented. To our knowledge, this is the first time the applications of force control are detailed for molecular simulation. These two control modes are compared in terms of adequacy with molecular dynamics, transparency and stability sensitivity with respect to environmental conditions. Based on their specificity the operations they can realize are detailed. Experiments highlight the usability of our tool for the different steps of the analysis of molecular structures. It includes the global reconfiguration of a molecular system, the measurement of molecular properties and the comprehension of nanoscale interactions. Compared to most existing systems, the one developed in this paper offers a wide range of possible experiments. The detailed analysis of the properties of the control modes can be easily used to implement haptic feeback on other molecular simulators.

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“…In the context of haptics, there is a large literature recognizing the relevance of passivity and dissipation as a means of stability analysis and design [8], [3], [1], [4], [2]. Passivity theory also permits structural analytical approaches such as port-Hamiltonian analysis [24].…”

Section: Example and Simulation Experimentsmentioning

confidence: 99%

“…Beside the desired mechanical characteristics such as stiffness, damping, bandwidth and other aspects of impedance matching and haptic fidelity, there are important stability problems in the bidirectional force propagation and the control loops providing stable and safe interaction for the human user [1], [2], [3], [4]. An important part of the stability analysis is the physical dissipation provided by the haptic device and the control, as it plays a key role in the design process.…”

Section: Introductionmentioning

confidence: 99%

“…In order to characterize the dynamic range of achievable impedances, Colgate and Brown introduced the notion 'zwidth' [7]. Research directed towards passivity analysis has pointed out various stability limitations and sources thereof such as discretization, teleoperation latencies and stiff interaction with environmental forces [8], [1], [2], [3], [4], [9]. A survey paper on bilateral teleoperation applicable to masterslave haptics was published by Hokayem and Spong [10] and stability properties of bilateral teleoperation with constant time delays were considered in [11].…”

Section: Introductionmentioning

confidence: 99%

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Stability of haptic obstacle avoidance and force interaction

Johansson

Annerstedt

Robertsson

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Stability problems associated with haptics and robot control with obstacle avoidance are analyzed. Obstacle avoidance algorithms are revised to accomplish stable redesign using absolute stability and passivity theory. A modification of potential functions for haptic rendering and obstacle avoidance allowing stable operation for high stiffness is proposed. The modification leads to velocity-dependent potential-like repulsive stable haptic force interaction with obstacles. Using strictly positive real re-design, stable force interaction can be provided also for high stiffness of manipulated objects or obstacles.

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Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects

Cited by 278 publications

References 16 publications

On the Stability of Digital Position Control with Viscous Damping and Coulomb Friction

On the Stability of Digital Position Control with Viscous Damping and Coulomb Friction

Comparing position and force control for interactive molecular simulators with haptic feedback

Stability of haptic obstacle avoidance and force interaction

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