Università Degli Studi Di Siena Autocalibrated Gravity Compensation for 3dof Impedance Haptic Devices
نویسندگان
چکیده
The apparent gravity force acting on the end-effector of an haptic device depends on its position inside the workspace. This thesis presents an offline recursive algorithm to automatically estimate the required gravity compensation terms to be applied to the end-effector at a given set of positions, corresponding to the vertices of a cubic grid contained into the device workspace. Online gravity compensation is then performed exploiting trilinear interpolation to compute gravity compensation term in any position of the workspace. Experiments shown that the effect of gravity can be compensated almost homogeneously with respect to end-effector position in the workspace, independently from the device kinematics and from the particular orientation in which the haptic device has been displaced. The result of this work is the developed of a software that performing the offline gravity estimation, it allows also the testing of the estimate results and provides the needed instrument for the implementation of online gravity compensation in a final user application.
منابع مشابه
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 gra...
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