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Delay-Dependent Stability Analysis in Haptic Rendering

  • Ahmad Mashayekhi
  • Saeed BehbahaniEmail author
  • Fanny Ficuciello
  • Bruno Siciliano
Article
  • 27 Downloads

Abstract

Nowadays haptic devices have lots of applications in virtual reality systems. While using a haptic device, one of the main requirements is the stable behavior of the system. An unstable behavior of a haptic device may damage itself and even may hurt its operator. Stability of haptic devices in the presence of inevitable time delay in addition to a suitable zero-order hold is studied in the presented paper, using two different methods. Both presented methods are based on Lyapunov-Krazuvskii functional. In the first method, a model transform is performed to determine the stability boundary, while the second approach is based on Free Weighing Matrices (FWMs). Delay-dependent stability criteria are determined by solving Linear Matrix Inequalities (LMIs). Results of these two methods are compared with each other and verified by simulations as well as experiments on a KUKA Light Weight Robot 4 (LWR4). It is concluded that using free weighing matrices leads to more unknown parameters and needs more calculation, but its results are less conservative.

Keywords

Haptic devices Stability Linear matrix inequality 

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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringIsfahan University of TechnologyIsfahanIran
  2. 2.CREATE Consortium, PRISMA Laboratory, Department of Electrical Engineering and Information TechnologyUniversity of Naples Federico IINaplesItaly

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