Control of the haptic interface with friction compensation and its performance evaluation

Author

Kwon, Dong-Soo ; Woo, Ki Young

Author_Institution

Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea

Volume

2

fYear

2000

fDate

2000

Firstpage

955

Abstract

Deals with control and performance evaluation of a two degree-of-freedom five-bar haptic interface driven by harmonic DC servomotors. The presented haptic display has nonlinear effects such as friction and motor cogging which affect impedance fidelity. Force feedback control strategies including a feedforward friction compensator based on joint torque and a disturbance observer have been proposed and are evaluated through experiments. The first set of experiments was conducted to measure how well the impedance fidelity could be achieved for various control strategies. The second set of experiments was conducted to investigate the influence of the control strategies on discontinuity perception and to measure the upper limit of the haptic simulation range of the haptic display

Keywords

compensation; feedforward; force control; force feedback; friction; haptic interfaces; manipulators; observers; telerobotics; 2 DOF five-bar haptic interface; discontinuity perception; disturbance observer; feedforward friction compensator; force feedback control strategies; friction compensation; haptic display; haptic simulation range; harmonic DC servomotors; impedance fidelity; joint torque; motor cogging; nonlinear effects; performance evaluation; Displays; Force control; Force feedback; Forging; Friction; Haptic interfaces; Impedance; Servomotors; Torque control; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.893142

Filename

893142