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.
- Design Engineering Division and Computers in Engineering Division
Stability Analysis for Haptic Rendering of Virtual Kelvin Viscoelastic Objects
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Kerekes, T, Bonakdar, A, & Ko¨vecses, J. "Stability Analysis for Haptic Rendering of Virtual Kelvin Viscoelastic Objects." Proceedings of the 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. pp. 1523-1529. ASME. https://doi.org/10.1115/DETC2010-28479
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