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Journal Articles AMRob Journal, Robotics: Theory and Applications Year : 2016

A bilateral control scheme of a haptic-virtual system using proportional-delayed controllers

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Abstract

This paper presents an appropriate method to compute the stability analysis for a bilateral virtual-haptic system with the purpose of maintaining a kinematic correspondence between the haptic and the virtual device. Furthermore, the stability analysis is developed in two senses, independent-delay stability and a general analysis considering a fixed delay. At last, we present experimental results evaluated in a experimental bench using the Phantom Omni haptic device and the Malab-Simulink toolkit Phansim.
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Dates and versions

hal-02276123 , version 1 (24-03-2021)

Identifiers

  • HAL Id : hal-02276123 , version 1

Cite

José-Enrique Hernández-Díez, J. Gonzalez-Galvan, César Fernando Méndez Barrios, Silviu-Iulian Niculescu, Raul Ignacio Hernández-Molinar. A bilateral control scheme of a haptic-virtual system using proportional-delayed controllers. AMRob Journal, Robotics: Theory and Applications, 2016. ⟨hal-02276123⟩
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