کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
714942 892193 2013 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Absolute Stability of 3-DOF Bilateral Haptic Systems
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Absolute Stability of 3-DOF Bilateral Haptic Systems
چکیده انگلیسی

A 3-degrees-of-freedom (DOF) bilateral haptic system can be modeled as an 2-port network where each port connects to a termination defined by 3 inputs and 3 outputs. The stability analysis of such systems is not trivial due to dynamic coupling across the different DOFs of the robots, the human operators, and the physical/virtual environments, and unknown dynamics of the human operators and the environments exacerbate the problem.Llewellyn's criterion only allows for absolute stability analysis of 1-DOF bilateral haptic systems, which can be modeled as 2-port networks. The absolute stability of a general 3-DOF bilateral haptic system cannot be obtained from the applications of Llewellyn's criterion to each DOF of the bilateral system. In this paper, we present a straightforward and convenient criterion for absolute stability analysis of a class of 3-DOF bilateral haptic systems. As a case studies, a 3-DOF bilateral haptic system is studied for absolute stability with simulations confirming the theoretical stability conditions.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 46, Issue 20, 2013, Pages 437-442