Edgar R. Ponce-de-Leon-Sanchez

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This article presents the experimental verification of kinematic and dynamic models of the PHANToM Premium 1.0 haptic device [2]. Dynamic properties are evaluated [7], in order to apply nonlinear control techniques and evaluation of manipulability and energy in real-time. Position kinematics and differential kinematics are validated for the trajectory(More)
This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking(More)
In this paper, a nonlinear passivity-based control strategy based on stability in the sense of Lyapunov (Second method) and sliding mode control applied to Euler-Lagrange systems (robot arms) and extended to the PHANToM Premium 1.0 haptic device for purposes of local haptic guidance rehabilitation and medical diagnosis in people who have some motor(More)
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