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Volume 30 Issue 06
Jun.  2004
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Journal of Beijing University of Aeronautics and Astronautics  > 2004  >  30(06): 539-542.
Luo Yangyu, Wang Dangxiao, Zhang Yuruet al. Modeling and analysis of a force interaction system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(06): 539-542. (in Chinese)
Citation: Luo Yangyu, Wang Dangxiao, Zhang Yuruet al. Modeling and analysis of a force interaction system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(06): 539-542. (in Chinese)
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Modeling and analysis of a force interaction system

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 23 Jan 2003
  • Publish Date: 30 Jun 2004
    Abstract
  • To improve the performance of a force interaction system, it is necessary to understand the effect of respective parameter on the system through modeling and analysis. Considering a 1\|DOF force interaction system, the human operator in the system was modeled as a combination of passive impedance and an active input, and the virtual environment was assumed to be passive. Through analogous treatment between the force interaction system and an electrical network system, two-port stable theory was used to derive the stability condition of the system. The effect of transmission stiffness on the system stability was particularly emphasized. The results provide important insight to the system performance and are applicable to the design of a force interaction systems.

     

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  • [1] Adams R J, Hannaford B. Stable haptic interaction with virtual environments[J]. IEEE Transactions on Robotics and Automation, 1999,15(3):465~474 [2]Colgate J E, Schenkel G. Passivity of a class of sampled-data systems:application to haptic interfaces . In:Proc of the American Control Conference . Baltimore, Maryland, 1994. 3236~3240 [3]Daniel R W, McAree P R. Fundamental limits of performance for force reflecting teleoperation[J]. International Journal of Robotics Research, 1998,17(8):811~830 [4]Luo Yangyu, Wang Dangxiao, Zhang Yuru. Development of a haptic display interface . In:2nd International Symposium on Instrumentation Science and Technology . Jinan, 2002. 272~276 [5]Hannaford B. A design framework for teleoperators with kinesthetic feedback[J]. IEEE Transactions on Robotics and Automation, 1989, 5(4):426~434
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