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Stability and performance of haptic simulation involving interaction with non-passive virtual environment

Published online by Cambridge University Press:  30 October 2018

Myeongjin Kim and
Doo Yong Lee
Myeongjin Kim
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon, 34141, Republic of Korea. E-mail: mj.k@kaist.ac.kr
Doo Yong Lee*
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon, 34141, Republic of Korea. E-mail: mj.k@kaist.ac.kr
*
*Corresponding author. E-mail: leedy@kaist.ac.kr
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Summary

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Previous researches on analysis of stability of haptic simulation largely assume that the virtual environment is passive. But the virtual environment can become non-passive due to various reasons including discretization errors and interaction dynamics between virtual tools and objects. This paper provides an analysis of the stability and performance of the haptic simulation involving non-passive virtual environment. The dynamic interaction between the virtual tools and the objects is modeled using the two-port networks. The analysis is carried out using a velocity and force mapping matrix for six-DOF simulation. New stability condition resulting from the analysis is applied to an example simulation of a one-DOF virtual wall. Maximum stiffness satisfying the stability condition established in the previous literature, and the proposed condition is compared with the maximum stiffness experimentally determined with various time steps. The newly proposed stability condition manifests less standard deviation of errors than the widely applied absolute stability condition.

Keywords

Haptic interfaceHaptic simulationVirtual simulationAbsolute stabilityTransparency

Information

Type
Articles
Information
Robotica , Volume 37 , Issue 3 , March 2019, pp. 560 - 574
Copyright
Copyright © Cambridge University Press 2018 

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