Autocalibrated Gravity Compensation for 3DoF Impedance Haptic Devices

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.

[1]  William S. Harwin,et al.  High Bandwidth, Large Workspace Haptic Interaction: Flying Phantoms , 2008, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[2]  Domenico Prattichizzo,et al.  Bringing Haptics to Second Life for Visually Impaired People , 2008, EuroHaptics.

[3]  Stephen P. Boyd,et al.  Linear controller design: limits of performance , 1991 .

[4]  Alessandro De Luca,et al.  An iterative scheme for learning gravity compensation in flexible robot arms , 1994, Autom..

[5]  Domenico Prattichizzo,et al.  The Haptik Library , 2007, IEEE Robotics & Automation Magazine.

[6]  Paolo Dario,et al.  Special issue on robotics and neuroscience , 2008, Neural Networks.

[7]  Domenico Prattichizzo,et al.  The Haptik Library A Component Based Architecture for Uniform Access to Haptic Devices , 2007 .

[8]  John Kenneth Salisbury,et al.  The effect of sensor/actuator asymmetries in haptic interfaces , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[9]  Frank Tendick,et al.  A Critical Study of the Mechanical and Electrical Properties of the PHANToM Haptic Interface and Improvements for Highperformance Control , 2002, Presence: Teleoperators & Virtual Environments.

[10]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[11]  C. Melchiorri,et al.  Robot manipulability , 1995, IEEE Trans. Robotics Autom..

[12]  ÇavuşoğluMurat Cenk,et al.  A critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements for high-performance control , 2002 .

[13]  John T. Feddema,et al.  Whole arm obstacle avoidance for teleoperated robots , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[14]  Antonio Frisoli,et al.  Gravity compensation algorithms for parallel haptic interface , 2002, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication.

[15]  Daniel Thalmann,et al.  Improving user comfort in haptic virtual environments through gravity compensation , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[16]  Richard M. Satava,et al.  Current and future applications of virtual reality for medicine , 1998, Proc. IEEE.

[17]  Timothy S. Miller,et al.  An insidious Haptic invasion: adding force feedback to the X desktop , 1998, UIST '98.

[18]  Vincent Hayward,et al.  Discrete-time adaptive windowing for velocity estimation , 2000, IEEE Trans. Control. Syst. Technol..

[19]  Oussama Khatib,et al.  Inertial Properties in Robotic Manipulation: An Object-Level Framework , 1995, Int. J. Robotics Res..