STABLE SHARED VIRTUAL ENVIRONMENT HAPTIC INTERACTION UNDER TIME-VARYING DELAY

Hichem Arioui (1) , Abderrahmane Kheddar (1) , Said Mammar (1)

1 LSC - Laboratoire Systèmes Complexes

This paper addresses the stability of time-delayed force-reflecting displays used in human-in-the-loop virtual reality interactive systems. A novel predictive haptic-device model-based approach is proposed. The developed solution is stable and robust, and does not require either the estimation of time delay or any knowledge on its behavior. It applies without any adaptations to constant or causal time-varying delays. Efforts have been focused to simple developments in order to make the approach easy to implement in commercial haptic libraries and build-in interface controllers. Altought this study focuses on virtual environments haptics, it can be easily spreaded to teleoperation1. The obtained results are presented and discussed.

Mots clés: Virtual environment haptics; Varying time delayed control; stability and robustness; stability and robustness.

Domaines: Automatique / Robotique

Hichem Arioui, Abderrahmane Kheddar, Said Mammar. STABLE SHARED VIRTUAL ENVIRONMENT HAPTIC INTERACTION UNDER TIME-VARYING DELAY. 8th IEEE Methods and Models in Automation and Robotics (MMAR'02), Sep 2002, Poland. pp.1145--1150. ⟨hal-00702168⟩