Journal of Institute of Convergence Technology (융복합기술연구소 논문집)

Institute of Convergence Technology (한국교통대학교 융복합기술연구소)
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Effects of the computational time delay and outputs with multi-rate sampling on the stability of a virtual object

계산시간지연과 다중율 샘플링 출력이 가상모델의 안정성에 미치는 영향

  • Kyungno Lee (Department of Automotive Engineering, Korea National University of Transportation)
  • 이경노 (국립한국교통대학교 자동차공학과)
  • Received : 2024.10.23
  • Accepted : 2024.11.19
  • Published : 2024.11.30
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Abstract

This paper presents the effects of the computational time delay and outputs with multi-rate sampling on the stability of a virtual object. The haptic system includes a haptic device with a mass and a damper, a virtual object modeled as a virtual spring, a computational time delay model, a low-frequency sampling and a high-frequency zero-order-hold. The low-frequency sampling time is assumed to be as much as a computational time delay. The relation among the maximum available stiffness, the computational time delay, the low-frequency sampling, and the ratio of the high-frequency sampling to the low-frequency sampling is analyzed using simulations. As the computational time delay increases, the maximal available stiffness of a virtual object is reduced reversely. The stability region can be increased to 135% ~148% of the value in the previous results using zero-order-hold.

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Acknowledgement

이 논문은 2024년도 국립한국교통대학교 지원을 받아 수행하였음.

References

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