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Stability Analysis for Haptic Rendering of Virtual Kelvin Viscoelastic Objects

[+] Author Affiliations
Tamás Kerekes, Ali Bonakdar, József Kövecses

McGill University, Montreal, QC, Canada

Paper No. DETC2010-28479, pp. 1523-1529; 7 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


In this paper we investigate the stability properties of a single degree of freedom (DoF) haptic display while a virtual viscoelastic object is touched where the viscoelastic object is modeled using the standard linear solid model (also called the Kelvin model). We will demonstrate that this model leads to a discrete-time PID control-like representation of the virtual environment. A detailed dynamic analysis and simulations are presented in this paper with a particular attention to determine stability charts in the space of the parameters given by the virtual viscoelastic model.

Copyright © 2010 by ASME



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