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Journal articles
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.
https://hal-centralesupelec.archives-ouvertes.fr/hal-02276123
Contributor : Delphine Le Piolet Connect in order to contact the contributor
Submitted on : Wednesday, March 24, 2021 - 12:03:29 PM
Last modification on : Wednesday, February 2, 2022 - 3:52:56 PM
Long-term archiving on: : Friday, June 25, 2021 - 6:05:32 PM
Contributor : Delphine Le Piolet Connect in order to contact the contributor
Submitted on : Wednesday, March 24, 2021 - 12:03:29 PM
Last modification on : Wednesday, February 2, 2022 - 3:52:56 PM
Long-term archiving on: : Friday, June 25, 2021 - 6:05:32 PM
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amrob2_haptic3.pdf
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