Journal of Institute of Convergence Technology (융복합기술연구소 논문집)

Institute of Convergence Technology (한국교통대학교 융복합기술연구소)
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A Study on the Effect of First-order Hold Method on the Stability Boundary of a Virtual Mass-spring Model

일차-홀드 방법이 가상 질량-스프링 모델의 안정성 영역에 미치는 영향에 대한 연구

  • Lee, Kyungno (Division of Automotive Engineering, Korea National University of Transportation)
  • 이경노 (한국교통대학교 자동차공학전공)
  • Received : 2020.10.21
  • Accepted : 2020.11.16
  • Published : 2020.11.30
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Abstract

This paper presents the effects of a virtual mass on the stability boundary of a virtual spring in the haptic system with first-order-hold. The virtual rigid body is modeled as a virtual spring and a virtual mass. When first-order-hold is applied, we analyze the stability boundary of the virtual spring through the simulation according to the virtual mass and the sampling time. As the virtual mass increases, the stability boundary of the virtual spring gradually increases and then decreases after reaching the maximum value. The results are compared with the stability boundary in the haptic system with zero-order-hold. When a virtual mass is small, the stability boundary of a virtual spring in the system with first-order-hold is larger than that in the system with zero-order-hold.

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References

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