stability analysis of haptic rendering considering delay and friction

interaction with stiff virtual objects is a substantial problem in haptics nonlinearities such as delay and friction make haptic interaction unstable . Delay is caused by factors such as communication line delay between computer and hapticdevice computational time to render force feedback and actuators nonlinearities such as coulomb friction and sensor quantization are also present the diverse sources of nonlinearities and delay seek a nonlinear analysis method. in this paper describing function method is used to determine a stability condition including virtual damping virtual stiffness total delay in the control loop encoder resolution computerdiscretization and sampling rate and then stable and unstable regions of coulomb and viscous friction plane are demonstrated .

Keywords:

haptics , robot force control , stability , delay , describing function