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

José-Enrique Hernández-Díez (1) , J. Gonzalez-Galvan (1) , César Fernando Méndez Barrios (1) , Silviu-Iulian Niculescu (2, 3) , Raul Ignacio Hernández-Molinar (4)

1 UASLP - Universidad Autonoma de San Luis Potosi [México]
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
3 L2S - Laboratoire des signaux et systèmes
4 UASLP - Autonomous University of San Luis Potosí

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.

Domains: Automatic

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⟩