A bilateral control scheme of a haptic-virtual system using proportional-delayed controllers
Résumé
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.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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