A Smit h-prediction based Haptic Feedback Controller for Time Delayed Virtual Environments systems
نویسنده
چکیده
In this paper a modified Smith predictor for linear delayed haptic interaction is presented. The objective is to design a feedback law which compensates the time delay by its somehow elimination from the characteristic equation of the closed loop system. This method is robust within a certain safe prediction interval. The applicability of Smith predictor in the case of haptic interaction using computer haptic algorithms is shown.
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