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

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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https://hal-centralesupelec.archives-ouvertes.fr/hal-02276123
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Submitted on : Wednesday, March 24, 2021 - 12:03:29 PM
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  • HAL Id : hal-02276123, version 1

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

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