Transparency improvement in haptic devices with a torque compensator using motor current

Date

2012-12-01

Author

Baser, Ozgur
Konukseven, Erhan İlhan
Gurocak, Hakan

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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Transparency of a haptic interface can be improved by minimizing the effects of inertia and friction through the use of model based compensators. However, the performance with these algorithms is limited due to the estimation errors in the system model and in the velocity and acceleration from quantized encoder data. This paper contributes a new torque compensator based on motor current to improve transparency. The proposed method was tested experimentally in time and frequency domains by means of an excitation motor attached at the user side of the device. The excitation motor enabled evaluation of the algorithms with smooth trajectories and high frequencies, which cannot be generated by user hand. Experimental results showed that the algorithm significantly improves transparency and doubles the transparency bandwidth.

Subject Keywords

Haptic transparency, Haptic stability, Current feedback, Transparency bandwidth, Inertia/friction compensation

URI

https://hdl.handle.net/11511/41698

Collections

Department of Mechanical Engineering, Conference / Seminar