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http://dx.doi.org/10.5302/J.ICROS.2014.13.1970

Stability Analysis of a Haptic System with a First-Order-Hold Method  

Lee, Kyungno (Department of Energy System Engineering, Korea National University of Transportation)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.4, 2014 , pp. 389-394 More about this Journal
Abstract
This paper presents the effect of a reflective force computed from a first-order-hold method on the stability of a haptic system. A haptic system is composed of a haptic device with a mass and a damper, a virtual spring, a sampler and a sample-and-hold. The boundary condition of the maximum virtual stiffness is analytically derived by using the Routh-Hurwitz criterion and the condition shows that the maximum virtual stiffness is proportional to the square root of the mass and the damper of a haptic device and also is inversely proportional to the sampling time to the power of three over two. The effectiveness of the derived condition is evaluated by the simulation. When the reflective forces are computed by using the first-order-hold method, the maximum available stiffness to guarantee the stability is increased several hundred times as large as when the zero-order-hold method is applied.
Keywords
haptic control; sample-and-hold; stability; virtual spring impedance; Routh-Hurwitz criterion;
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Times Cited By KSCI : 4  (Citation Analysis)
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