DC Motor Damping: A Strategy to Increase Passive Stiffness of Haptic Devices
نویسندگان
چکیده
Physically dissipative damping can increase the range of passive stiffness that can be rendered by a haptic device. Unlike simulated damping it does not introduce noise into the haptic control system. A DC motor can generate such damping if it’s terminals are shorted. We employ a configuration of the H-bridge which can cause this damping to impart stability to our haptic device. This results in an increase in passive wall stiffness of about 33.3% at a sampling rate of 100Hz and 16.6% at 1kHz over the performance of an undamped DC motor. We have also attempted to implement the system on the hybrid haptic control system [1], it was seen that a perceivable change in the performance of this system was not observed by the use of DC motor damping. keywords: Haptics, Instability, Passiveness, Continuous Time, Programmable logic devices (PLD)
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