계산시간지연과 다중율 샘플링 출력이 가상모델의 안정성에 미치는 영향 = Effects of the computational time delay and outputs with multi-rate sampling on the stability of a virtual object

다국어 초록 (Multilingual 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.