The apparent mass of haptic device end-effector depends on its position inside the workspace. This paper presents a recursive algorithm to detect effective direction of gravity force, and to automatically estimate the apparent mass of the end-effector when placed at the vertices of a cubic grid contained into the device workspace. Then an on-line technique is proposed to actively compensate gravity, exploiting trilinear interpolation to compute an estimate of end-effector apparent mass in any position of the workspace. Experiments have been performed with three different haptic devices, and results shown that the apparent mass of the end-effector is compensated almost homogeneously with respect to its position in the workspace.

A., F., M., F., S., M., M., D.P., & Prattichizzo, D. (2008). Autocalibrated gravity compensation for 3 DoF impedance haptic devices. In Haptics: Perception, Devices and Scenarios (pp. 896-905). Springer Verlag [10.1007/978-3-540-69057-3_5].

Autocalibrated gravity compensation for 3 DoF impedance haptic devices

PRATTICHIZZO, DOMENICO
2008

Abstract

The apparent mass of haptic device end-effector depends on its position inside the workspace. This paper presents a recursive algorithm to detect effective direction of gravity force, and to automatically estimate the apparent mass of the end-effector when placed at the vertices of a cubic grid contained into the device workspace. Then an on-line technique is proposed to actively compensate gravity, exploiting trilinear interpolation to compute an estimate of end-effector apparent mass in any position of the workspace. Experiments have been performed with three different haptic devices, and results shown that the apparent mass of the end-effector is compensated almost homogeneously with respect to its position in the workspace.
9783540690566
A., F., M., F., S., M., M., D.P., & Prattichizzo, D. (2008). Autocalibrated gravity compensation for 3 DoF impedance haptic devices. In Haptics: Perception, Devices and Scenarios (pp. 896-905). Springer Verlag [10.1007/978-3-540-69057-3_5].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/12898
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