Abstract
Physically dissipative damping can increase the range of passive stiffness that can be rendered by a haptic device. Unlike simulated damping it does not introduce noise into the haptic control system. A DC motor can generate such damping if it’s terminals are shorted. We employ a configuration of the H-bridge which can cause this damping to impart stability to our haptic device. This results in an increase in passive wall stiffness of about 33.3% at a sampling rate of 100Hz and 16.6% at 1kHz over the performance of an undamped DC motor. We have also attempted to implement the system on the hybrid haptic control system [1], it was seen that a perceivable change in the performance of this system was not observed by the use of DC motor damping.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Vasudevan, H., Srikanth, M.B., Manivannan, M.: Rendering stiffer walls: A hybrid haptic system using continuous and discrete time feedback. Advanced Robotics 21(11) (2007)
Colgate, J.E., Brown, J.M.: Factors affecting the z-width of a haptic display. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 3205–3210 (1994)
Minsky, M., Ming, O.-Y., Steele, O., Brooks Jr., F.P., Behensky, M.: Feeling and seeing: issues in force display. In: SI3D 1990: Proceedings of the 1990 symposium on Interactive 3D graphics, pp. 235–241. ACM Press, New York (1990)
Abbott, Okamura.: Effects of position quantization and sampling rate on virtual-wall passivity. IEEE Transactions on Robotics 21(5) (2005)
Miller, B.E., Colgate, J.E., Freeman, R.A.: Passive implementation for a class of static nonlinear environments in haptic display. In: IEEE International Conference on Robotics and Automation, Detroit, MI, USA, IEEE Computer Society Press, Los Alamitos (1999)
Gillespie, Cutkosky: Stable user-specific haptic rendering of the virtual wall. In: ASME Dynamic Systems and Control. vol. 58, pp. 397–406 (1996)
Colgate, J.E., Grafing, P.E., Stanley, M.C., Schenkel, G.: Implementation of stiff virtual walls in force-reflecting interfaces. In: VR, Seattle, Washington, USA, pp. 202–208 (1993)
Miller, Colgate, Freeman: On the role of dissipation in haptic systems. IEEE Transactions on Robotics 20(4) (2004)
Hannaford, B., Ryu, J.H.: Time domain passivity control of haptic interfaces. IEEE Transactions on Robotics and Automation 18(1), 1–10 (2002)
Lee, K., Lee, D.Y.: Multirate control of haptic interface for stability and high fidelity. In: Proceedings of the IEEE International Conference on Systems, Man & Cybernetics, The Hague, Netherlands, October 2004, pp. 2542–2547 (2004)
Diolaiti, Niemeyer, Barbagli, Salisbury.: Stability of haptic rendering: Quantization, discretization, time-delay and coulomb effects. IEEE Transactions on Robotics 22(2), 256–268 (2006)
Kawai, M., Yoshikawa, T.: Haptic display with an interface device capable of continuous-time impedance display within a sampling period. IEEE/ASME TRANSACTIONS ON MECHATRONICS 9 (2004)
Niemeyer, G., Diolaiti, N., Tanner, N.: Wave haptics: Encoderless virtual stiffnesses. In: Proc.International Symposium of Robotics Research, San Francisco, CA, USA (October 2005)
Kwon, T.-B., Song, J.-B.: Force display using a hybrid haptic device composed of motors and brakes. Mechatronics 16(5), 249–257 (2006)
Mehling, J.S., Colgate, J.E., Peshkin, M.A.: Increasing the impedance range of a haptic display by adding electrical damping. In: Eurohaptics Conference, pp. 257–262 (2005)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Srikanth, M.B., Vasudevan, H., Muniyandi, M. (2008). DC Motor Damping: A Strategy to Increase Passive Stiffness of Haptic Devices. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_6
Download citation
DOI: https://doi.org/10.1007/978-3-540-69057-3_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69056-6
Online ISBN: 978-3-540-69057-3
eBook Packages: Computer ScienceComputer Science (R0)