DocumentCode :
3098557
Title :
Contact force estimation for backdrivable robotic manipulators with coupled friction
Author :
Naerum, Edvard ; Cornellà, Jordi ; Elle, Ole Jakob
Author_Institution :
Interventional Centre, Rikshospitalet Univ. Hosp., Oslo
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
3021
Lastpage :
3027
Abstract :
A hybrid model/learning-based dynamic equation has been developed for robots in order to take advantage of the attractive features of both techniques. The regular dynamic equation is used to model the ideal behavior, while wavelets are used to learn the joint friction. The friction may be coupled, such that it is a function of the velocity of multiple joints. Furthermore, a system identification method has been designed to improve contact force estimation, using manual hand excitation in addition to motor excitation. The hybrid dynamic equation was implemented for the PHANTOM Omni haptic device (SensAble Technologies, MA, USA), and experiments were performed to compare using manual excitation with using motor excitation only. The results showed that manual excitation improved contact force estimation performance, with improvements in the relative RMS values ranging from 21% to 35%.
Keywords :
force control; friction; identification; intelligent robots; learning (artificial intelligence); manipulator dynamics; telerobotics; Phantom Omni haptic device; backdrivable robotic manipulator; contact force estimation; coupled friction; hybrid dynamic equation; joint friction; learning-based dynamic equation; manual hand excitation; motor excitation; realistic bilateral teleoperation; system identification method; Equations; Force; Friction; Joints; Mathematical model; Robots; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4651192
Filename :
4651192
Link To Document :
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