Title :
Stability analysis of a 1 DOF haptic interface using the Routh-Hurwitz criterion
Author :
Gil, Jorge Juan ; Avello, Alejo ; Rubio, Ángel ; Flórez, Julián
Author_Institution :
Appl. Mech. Dept., Centro de Estudios e Investigaciones Tecnicas, San Sebastian, Spain
fDate :
7/1/2004 12:00:00 AM
Abstract :
A haptic interface is a kinesthetic link between a human operator and a virtual environment. A way of studying the stability of a 1 degree-of-freedom (DOF) haptic interface using the Routh-Hurwitz criterion is presented in this brief. Parameter conditions that guarantee the stability of the system with a static virtual environment have been found. These conditions can help in the development and implementation of haptic devices. Finally, they have been confirmed by experimental results.
Keywords :
Routh methods; discrete time systems; haptic interfaces; stability criteria; Routh-Hurwitz criterion; degree-of-freedom; discrete-time systems; haptic interface; stability analysis; tactile systems; Gas insulated transmission lines; Haptic interfaces; Humans; Impedance; Layout; Manipulators; Robots; Stability analysis; Stability criteria; Virtual environment; Discrete time systems; human factors; routh methods; stability; tactile systems;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2004.825134
