Time-delayed dual-rate haptic rendering: stability analysis and reduced order modeling

Ganiny, Suhail; Koul, Majid H.; Ahmad, Babar

doi:10.1007/s41315-021-00205-z

Cited by 5 publications

(6 citation statements)

References 56 publications

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“…The stability of dual-rate haptic devices is the subject of some researches such as. 30,31 Also these mentioned criteria are derived mathematically, verified by simulations and experiments. Most of the time a 1-DOF haptic device is used for experiments, (like 13,14 ) or one joint of a several-DOF haptic system is used, such as.…”

Section: Stability Analysismentioning

confidence: 97%

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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Section: Stability Analysismentioning

confidence: 97%

A Review on stability and passivity analysis of haptic devices

Mashayekhi¹,

Akhoundi²,

Modanloo³

2022

IRATJ

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“…Alternatively, in the one-DOF dual-rate haptics controller as proposed, implemented, and analyzed by Koul and colleagues, 44,47,49 the rendering of the virtual wall impedance parameters is decoupled into two parallel feedback loops, referred to as the position loop and velocity loop, respectively (Figure 2 of Koul et al 44 ). In other words, instead of rendering the wall impedance at a uniform higher sampling rate (f = 1/T), its constituents that include the stiffness K and damping B are rendered independently at two distinct sampling rates (f 1 = N/T, f 2 = 1/T, N∈ℤ) under the dual-rate sampling paradigm.…”

Section: Review Of Conventional and Dual-rate Haptic Renderingmentioning

confidence: 99%

“…The theoretical and simulation-based analyses of the multi-DOF dualrate control scheme are helpful in identifying the limits of the control scheme, specifically the Z-width, and also facilitate in evaluating the combined effect of factors like quantization, time delay, and the dualrate sampling approach on their performance. 47 A theoretical analysis however requires the knowledge of the coupled dynamics of the multi-DOF device, the virtual environment, the human operator, and the controller, which is difficult to obtain. 52 On the other hand, commercial software packages such as Simulink/SimMechanics from MATLAB act as essential tools for modeling, simulation, and control validation of haptics and robotics systems.…”

Section: Multi-dof Haptics Force Law Simulationmentioning

confidence: 99%

“…Stability analysis of haptic interfaces is vital due to the direct physical contact between the device and the operator. 23,47 The simulation methodology is briefly elaborated here and further details can be found in Koul et al 61 Realistic simulation of the two-DOF haptics force law requires modeling of all the components of the haptics controller depicted in Figure 1. To simplify the underlying modeling, the two-DOF dual-rate haptics controller is subdivided into the following components: mechanical (haptic device structure, joint damping, transmission), electrical (DC motor, current amplifier), and electronics (encoder, controller, H-bridge).…”

Section: Multi-dof Haptics Force Law Simulationmentioning

confidence: 99%

“…This control strategy thereby averts the instabilities arising due to poor velocity estimation from discrete position measurements, particularly, when lower-resolution sensors are employed. In subsequent works, [47][48][49] the stability aspects and limit cycle behavior of a single-DOF haptic interface under the dual-rate sampling scheme have been reported.…”

Section: Introductionmentioning

confidence: 99%

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Elevating haptic interfaces: Dual‐rate sampling and field programmable gate array implementation for multi‐degree‐of‐freedom performance enhancement

Koul,

Khosa,

Ahmad

2024

Int Journal of Mech Sys Dyn

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In this work, our primary focus centered on exploring the adaptability of the dual‐rate sampling scheme proposed earlier to enhance the performance of multi‐degree‐of‐freedom (multi‐DOF) impedance‐based haptic interfaces. The scheme employed independent sampling rates in a haptics controller, effectively mitigating the issue of reduced Z‐width at higher sampling rates. A key aspect of our investigation was the intricate implementation of the dual‐rate sampling scheme on a field programmable gate array (FPGA). This implementation on a logic hardware FPGA was challenging and led to the effective comparison of the uniform‐rate and dual‐rate sampling schemes of the multi‐DOF haptic controller. We used an in‐house developed two‐DOF pantograph as the haptic interface and an FPGA for implementing the controller strategy. FPGA‐based implementation presented challenges that were vital in testing controller performances at higher sampling rates. Virtual wall experiments were conducted to determine the stable and unstable interactions with the virtual wall. To complement the experimental results, we simulated the haptics force law for multi‐DOF system on Simulink/MATLAB. Notably, the dual‐rate sampling approach maintained the Z‐width of the two‐DOF haptic interface, even at higher controller sampling rates, distinguishing it from the conventional two‐DOF uniform‐rate control scheme. For example, employing a dual‐rate sampling combination of 20–2 kHz consistently ensured the stable rendering of a maximum virtual stiffness of approximately 700 N/mm and maintained a reliable virtual damping range spanning from 0 to 5 Ns/mm. In contrast, the 20 kHz uniform‐rate sampling approach failed to ensure interface stability in the presence of virtual damping, ultimately resulting in the unsuccessful implementation of any virtual stiffness at higher sampling rates. This work, therefore, establishes the potential of dual‐rate sampling in the realm of haptic technology, with practical applications in multi‐DOF systems.

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Reduced Interface Models for Haptic Interfacing With Virtual Environments

Kerr

Kövecses

2022

IEEE Robot. Autom. Lett.

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Time-delayed dual-rate haptic rendering: stability analysis and reduced order modeling

Cited by 5 publications

References 56 publications

A Review on stability and passivity analysis of haptic devices

A Review on stability and passivity analysis of haptic devices

Elevating haptic interfaces: Dual‐rate sampling and field programmable gate array implementation for multi‐degree‐of‐freedom performance enhancement

Reduced Interface Models for Haptic Interfacing With Virtual Environments

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