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Design and Control of Force Feedback Haptic Systems with Time Delay

Abstract : Time-delay effects on the properties of stability and transparency for a haptic device are well known and are far from to be negligible if high performances are expected. This chapter deals with the issues of design and control for a force feedback haptic device in the case of the interaction with a virtual wall. The stability condition expressed in term of Linear Matrix Inequality allows considering the effects of a constant time-delay as well as other mechanical parameters such as vibration mode. This result will be applied in the first part of the chapter to the optimal design method for an electromechanical haptic device with high performances (stability and low inertia). The second part will deal with the implementation of the virtual wall and the observer-based force feedback architecture in order to improve the stability of haptic system taking into account variations of the communication delay.
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Submitted on : Tuesday, October 26, 2021 - 3:26:58 PM
Last modification on : Wednesday, November 10, 2021 - 9:30:02 AM

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Quoc Viet Dang, Antoine Dequidt, Laurent Vermeiren, Michel Dambrine. Design and Control of Force Feedback Haptic Systems with Time Delay. Delay Systems - From Theory to Numerics and Applications, 1, Springer International Publishing, pp.373-387, 2014, Advances in Delays and Dynamics, 978-3-319-01694-8. ⟨10.1007/978-3-319-01695-5_27⟩. ⟨hal-03404271⟩

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