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Effect of Dual-rate Sampling on the Stability of a Haptic Interface

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Abstract

Conventional controllers in impedance-based haptic interfaces are sampled data systems that utilize position and velocity information for the necessary force feedback. In a canonical virtual wall simulation, this feedback force is generated based on interaction with the wall simulating certain stiffness and damping. Increasing the sampling rate of the controller increases the stable range of virtual wall stiffness. However, an increased sampling rate exacerbates the velocity information, decreasing the stable range of virtual wall damping. In this work, the authors propose a dual-rate sampling scheme in which the position and velocity loops of a haptics controller are decoupled and sampled at different rates. The scheme enables independent sampling of the position data at higher rates, while simultaneously sampling the velocity data at appropriate rates. In this paper, the authors provide experimental and theoretical implications of the effect of dual-rate sampling on the stability of a haptic interface. Experiments with a single degree-of-freedom (DOF) haptic interface reveals an enhanced region of stable virtual wall stiffness for a particular range of virtual wall damping, compared to the values with conventional uniform-rate scheme. Virtual wall stiffness ranging from 150 - 360 Nm/rad was stably implemented over a range of 0 - 1 Nms/rad of virtual wall damping using the proposed scheme at position loop sampling rate of 20kHz and velocity loop sampling rate of 2kHz. Whereas in the conventional scheme, the stable range of virtual stiffness dropped considerably (∼ 0 Nm/rad) for the virtual wall damping above 0.1 Nms/rad when the uniform rate sampling of 20kHz was used for both the position and velocity sampling loops. Theoretical stability analyzes using classical control tools and simulations justified the effectiveness of the proposed scheme. The scheme is easy to implement and extensible to multi-DOF haptic interfaces as well.

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Acknowledgements

The authors would like to thank the Department of Science & Technology, Government of India for financial support under the sponsored project SR /S3 /MERC /001 /2008, entitled “Development of a 2D Haptic Device for virtual reality based medical simulation with haptic feedback”. The first author would also like to thank BRNS/ BARC Mumbai for the financial support during last two years 2013-14 under the sponsored project “Adaptive Force Control of Industrial robot using Force/Torque sensor”. Thanks are also due to Dr. S. Janardhanan (Electrical Engineering, IIT Delhi) for discussions on stability of multi-rate controllers.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Islamic University of Science and Technology, J&K, 192122, India

    Majid Koul

  2. Department of Applied Mechanics, Indian Institute of Technology Madras, Chennai, Tamil Nadu, 600036, India

    M. Manivannan

  3. Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, 110016, India

    S. K. Saha

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  1. Majid Koul
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  2. M. Manivannan
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  3. S. K. Saha
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Correspondence to Majid Koul.

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Koul, M., Manivannan, M. & Saha, S.K. Effect of Dual-rate Sampling on the Stability of a Haptic Interface. J Intell Robot Syst 91, 479–491 (2018). https://doi.org/10.1007/s10846-017-0691-6

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  • DOI: https://doi.org/10.1007/s10846-017-0691-6

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