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Transparency improvement in haptic devices with a torque compensator using motor current
Date
2012-12-01
Author
Baser, Ozgur
Konukseven, Erhan İlhan
Gurocak, Hakan
Metadata
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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
DOI
https://doi.org/10.1007/978-3-642-31401-8_4
Collections
Department of Mechanical Engineering, Conference / Seminar