An Innovative Interface Approach to Real-Time Control of the Phantom Omni Robot

Ahstract- This paper presents an innovative approach to real-time control of the Phantom Omni<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup>robot using the OpenHaptics™ toolkit, integrated with Simulink®via custom C/c++ code. In this research, we focus on real-time applications such as motion control. Therefore, simulation blocks are developed to have the capability to implement unilateral, bilateral, and various cooperative structures. Additionally, the dynamics, parameters, and the LIP form of the Phantom Omni are presented. Finally, to verify all the mentioned work, an adaptive passivity-based controller is proposed.