Journal of Institute of Convergence Technology (융복합기술연구소 논문집)

Institute of Convergence Technology (한국교통대학교 융복합기술연구소)
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A study on the stability boundary of a virtual spring model with a virtual mass

가상스프링 모델의 안정성 영역에 대한 가상질량의 영향에 대한 연구

  • Lee, Kyungno (Department of Energy System Engineering, Korea National University of Transportation)
  • 이경노 (한국교통대학교 에너지시스템공학과)
  • Received : 2016.11.01
  • Accepted : 2016.11.17
  • Published : 2016.11.30
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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. A haptic system consists of a haptic device, a sampler, a virtual rigid body and zero-order-hold. The virtual rigid body is modeled as a virtual spring and a virtual mass. According to the virtual mass and the sampling time, the stability boundary of the virtual spring is analyzed through the simulation. As the virtual mass increases, the value of the virtual spring to guarantee the stability gradually increases and then decreases after reaching the maximum value. These simulation results show that the addition of the virtual mass enables to expand the stability boundary of the virtual spring.

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References

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