Contact Stability Analysis of Virtual Walls
Love, Lonnie J.
Book, Wayne John
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Haptic interfaces are mechanical systems coupled to humans. These devices provide a method of relaying mechanical information between a human and a computer generated environment. A basic element in any virtual environment is the virtual wall. The problem addressed in this research is the stability of haptic interfaces when simulating virtual walls. Many researchers have recently published reports describing an un-modeled vibration experienced when attempting to simulate stiff surfaces. This investigation focuses on the structure of the control algorithm and its discrete time implementation. A computed torque method of impedance control provides robust performance, but is limited due to discrete time implementation. Bounds on the target impedance are defined though Jury analysis.