Application of a novel structure with observer for force-feedback haptic system under variable time delay

Quoc Viet Dang (1) , Laurent Vermeiren (1) , Antoine Dequidt (1) , Michel Dambrine (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper addresses the implementation of a novel structure with observer for force-feedback haptic system under variable time delay. Theoretical approach for stabilizing haptic interface in interaction with a virtual environment is proposed. The obtained experimental results confirm the efficiency of the proposed force-feedback architecture instead of the traditional backward finite-difference method in improving the stability of haptic system.

Mots clés: "Haptic interfaces"; "Friction"; "Force"; "Observers"; "Virtual environments"; "Stability analysis"; "Delay effects"

Domaines: Automatique / Robotique

Quoc Viet Dang, Laurent Vermeiren, Antoine Dequidt, Michel Dambrine. Application of a novel structure with observer for force-feedback haptic system under variable time delay. 2014 IEEE Conference on Control Applications (CCA), Oct 2014, Juan Les Antibes, France. pp.2060-2065, ⟨10.1109/CCA.2014.6981606⟩. ⟨hal-03418687⟩