융복합기술연구소 논문집 (Journal of Institute of Convergence Technology)
- 제5권2호
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- Pages.37-42
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- 2015
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- 2233-8667(pISSN)
DOI QR Code
가변적인 계산시간지연에 의한 햅틱 시스템에서의 안정성 영향 분석
Analysis for the Stability of a Haptic System with the Computational Time-varying Delay
- 이경노 (한국교통대학교 에너지시스템공학과)
- Lee, Kyungno (Department of Energy System Engineering, Korea National University of Transportation)
- 투고 : 2015.11.03
- 심사 : 2015.11.20
- 발행 : 2015.11.30
초록
This paper presents the effects of the computational time-varying delay on the stability of the haptic system that includes a virtual wall and a first-order-hold method. The model of a haptic system includes a haptic device model with a mass and a damper, a virtual wall model, a first-order-hold model and a computational time-varying delay model. In this paper, the maximum of the computational time-varying delay is assumed to be as much as the sampling time. Using the simulation, it is analyzed how the sample-hold methods and the computational time-varying delay affect the maximum available stiffness. As the maximum of computational time-varying delay increases, the maximal available stiffness of a virtual wall model is reduced.