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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yanwen Liu Xiaoxue Liu Zhigang Qi Yuanhui Wang |
| Copyright Year | 2015 |
| Description | Author affiliation: Coll. of Autom., Harbin Eng. Univ., Harbin, China (Yanwen Liu; Xiaoxue Liu; Zhigang Qi; Yuanhui Wang) |
| Abstract | The haptic interface provides the virtual environment for the remote servo manipulator, and it can make the operator feel and manipulate the remote or virtual environment. For arbitrary passive operator (human), the stability not only relates to the parameters of the haptic device and the virtual environment, but also relates to the type of the sampling signal of the system. The passivity conditions for haptic interface systems with position sampling are given in existing works, but the parameters scope for passivity design is very small. In view of this, velocity of the haptic device is used for the sampling signal in this paper, and a wider passive region is derived based on the frequency response of a sampled-data control system. At last, through overall consideration of the bandwidth, damping ratio and passivity requirements, a reasonable design result is given in the paper. |
| Starting Page | 2129 |
| Ending Page | 2133 |
| File Size | 687979 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781479970971 |
| e-ISBN | 9781479970988 |
| DOI | 10.1109/ICMA.2015.7237815 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-08-02 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Haptic interfaces Virtual environments Control systems Frequency response Bandwidth Stability analysis Damping Sampled-data Control System Haptic Interface Virtual Environment Passivity Condition |
| Content Type | Text |
| Resource Type | Article |
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