The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering

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	Similar Articles Articles by Nicola Diolaiti Articles by Günter Niemeyer Articles by Federico Barbagli Articles by J. Kenneth Salisbury Articles by Claudio Melchiorri

First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05)

Pisa, Italy

March 18-March 20

ISBN: 0-7695-2310-2

	ASCII Text	x
	Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, J. Kenneth Salisbury, Claudio Melchiorri, "The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering," World Haptics Conference, pp. 237-246, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05), 2005.

	BibTex	x
	@article{ 10.1109/WHC.2005.130, author = {Nicola Diolaiti and Günter Niemeyer and Federico Barbagli and J. Kenneth Salisbury and Claudio Melchiorri}, title = {The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering}, journal ={World Haptics Conference}, volume = {0}, year = {2005}, isbn = {0-7695-2310-2}, pages = {237-246}, doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2005.130}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - World Haptics Conference TI - The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering SN - 0-7695-2310-2 SP237 EP246 A1 - Nicola Diolaiti, A1 - Günter Niemeyer, A1 - Federico Barbagli, A1 - J. Kenneth Salisbury, A1 - Claudio Melchiorri, PY - 2005 KW - null VL - 0 JA - World Haptics Conference ER -

Nicola Diolaiti, University of Bologna

Günter Niemeyer, Stanford University

Federico Barbagli, Stanford University

J. Kenneth Salisbury, Stanford University

Claudio Melchiorri, University of Bologna

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/WHC.2005.130

Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate and quantization of position measurements interact with the inertia, natural viscous, and Coulomb damping of the haptic device. The resulting stability criterion generalizes previously known conditions. Simulations and experimental results support the theoretical analysis based on the passivity and describing function approaches.

Citation:

Nicola Diolaiti, Günter Niemeyer, Federico Barbagli, J. Kenneth Salisbury, Claudio Melchiorri, "The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering," whc, pp.237-246, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05), 2005

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