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

José-Enrique Hernández-Díez; J. Gonzalez-Galvan; César Fernando Méndez Barrios; Silviu-Iulian Niculescu; Raul Hernández-Molinar

Journal articles

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 Hernández-Molinar ⁴

1 UASLP - Universidad Autonoma de San Luis Potosi [México]

2 DISCO - Dynamical Interconnected Systems in COmplex Environments

L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France

3 L2S - Laboratoire des signaux et systèmes

4 UASLP - Autonomous University of San Luis Potosí

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.

Document type :

Journal articles

Domain :

Engineering Sciences [physics] / Automatic

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https://hal-centralesupelec.archives-ouvertes.fr/hal-02276123
Contributor : Delphine Le Piolet <>
Submitted on : Wednesday, March 24, 2021 - 12:03:29 PM
Last modification on : Thursday, April 1, 2021 - 3:35:51 AM

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