Velocity Acquisition Methods for Stable Haptic Simulation Systems
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Authors
Luna Laija, Victor
Date
Type
thesis
Language
eng
Keyword
Stability Analysis , Haptic Interfaces , Virtual Environments , Force Feedback , Uncoupled Stability , Passivity
Alternative Title
Abstract
Haptic simulation systems enable the perception of virtual environments through the sense of touch. These systems are composed of a haptic device through which an operator interacts with the virtual environment that is graphically and dynamically rendered in a computer. The stability of haptic simulation systems is compromised by the data acquisition sample and hold process that connects continuous and virtual worlds. Typically in these systems, the haptic device position is sampled and the velocity is estimated in discrete-time from the position samples in order to simulate the real environment dynamics and generate the environment force feedback. Velocity estimation in discrete-time domain limits the range of virtual environment dynamics that can be implemented in stable way. In order to increase the range, two velocity acquisition methods are investigated. First, sampling velocity directly from an analog gyro. Second, sampling analog velocity approximation obtained from passing analog position through a high-pass lter. Uncoupled stability and passivity criteria, considered as the most stringent stability conditions, are employed to analytically and experimentally evaluate the system stability and robustness of the proposed methods. Results indicate that the direct velocity measurement improves the stability, while the analog velocity approximation method offers a wide range of virtual environments that can be stably simulated.
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Queen's University's Thesis/Dissertation Non-Exclusive License for Deposit to QSpace and Library and Archives Canada
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Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.