Abstract:Haptic devices are robots that are used for simulating virtual objects for their operators. Since most real objects can be modelled by spring and dampers, the virtual object is also a (discrete) spring and damper. The discretization is done with a constant sampling time, while a time delay may exist in the control loop, due to do different sources. Simulating stiff objects is a challenging problem since severe vibrations occur in the body of the haptic device and may damage itself or even its operator. The st… Show more
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