On the determination of stability bounds of time-delayed dual-rate haptics controllers via model order reduction

Ganiny, Suhail

doi:10.1145/3478586.3478630

Advances in Robotics - 5th International Conference of the Robotics Society 2021

DOI: 10.1145/3478586.3478630

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On the determination of stability bounds of time-delayed dual-rate haptics controllers via model order reduction

Suhail Ganiny

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2024

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Exact discrete-time stability analysis of multi-DOF haptic rendering: Impact of multi-rate, time-delay, and mechanical parameters

Ganiny,

Koul,

Ahmad

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Previous studies on the stability analysis of haptic devices have predominantly focused on single-DOF devices, thereby limiting attention to multi-DOF devices, particularly those employing multi-rate sampling schemes. In this paper, we introduce a formulation for the coupled dynamics between the haptic device and the virtual environment for a multi-DOF haptic device controlled using a dual-rate sampling scheme. Subsequently, we analyze its stability through the application of a dynamic decoupling strategy within an exact discrete-time state-space framework while the device is engaged in rendering a virtual wall along one of its operational space coordinates. Furthermore, we explore how the combined influence of the dual-rate sampling approach, time delay, and the mechanical design affects the stability boundaries of the multi-DOF haptic device at a fixed workspace location as well as within the entire usable workspace. Additionally, we utilize a model-order reduction (MOR) framework to simplify the determination of the device’s stability limits, irrespective of the specific combinations of time delay and sampling rates employed.

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Exact discrete-time stability analysis of multi-DOF haptic rendering: Impact of multi-rate, time-delay, and mechanical parameters

Ganiny,

Koul,

Ahmad

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

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On the determination of stability bounds of time-delayed dual-rate haptics controllers via model order reduction

Cited by 1 publication

References 15 publications

Exact discrete-time stability analysis of multi-DOF haptic rendering: Impact of multi-rate, time-delay, and mechanical parameters

Exact discrete-time stability analysis of multi-DOF haptic rendering: Impact of multi-rate, time-delay, and mechanical parameters

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