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Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2003

A Model-Based Controller for Interactive Delayed Force Feedback Virtual Environments

Hichem Arioui
Saïd Mammar

Résumé

This paper addresses the stability of time-delayed force-reflecting displays used in virtual reality interactive systems. A novel predictive-like approach is proposed. The developed solution is stable and robust. Neither time delay estimation nor time delay behavior's knowledge are required. The controller applies to constant or time-varying delays without any adaptation. In this research, efforts are devoted towards making results easy to implement in commercial haptic libraries and interface build-in controllers. Moreover, although this study focuses on virtual environments haptics, it can easily spreads to force feedback teleoperators.
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Dates et versions

hal-01515626 , version 1 (27-04-2017)

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Hichem Arioui, Abderrahmane Kheddar, Saïd Mammar. A Model-Based Controller for Interactive Delayed Force Feedback Virtual Environments. Journal of Intelligent and Robotic Systems, 2003, 37 (2), pp.193--207. ⟨10.1023/A:1024106504729⟩. ⟨hal-01515626⟩
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