Effect of haptic device’s position resolution on stability
نویسندگان
چکیده
Relation between position resolution of haptic device and stability problem is discussed in this paper. Based on virtual wall model and passive characteristics of contact interaction, violation of passive dynamic criteria and energy accumulation of motor output are proved to be the factors that influence system stability. Influence of device parameter on stability is discussed and the criterion about selecting position resolution is proposed. Experiments based on Phantom are carried out to evaluate the validity of the criterion.
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