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HAPTICS
2008
IEEE

Autocalibrated Gravity Compensation for 3DoF Impedance Haptic Devices

9 years 4 months ago
Autocalibrated Gravity Compensation for 3DoF Impedance Haptic Devices
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.
Alessandro Formaglio, Marco Fei, Sara Mulatto, Mau
Added 29 May 2010
Updated 29 May 2010
Type Conference
Year 2008
Where HAPTICS
Authors Alessandro Formaglio, Marco Fei, Sara Mulatto, Maurizio de Pascale, Domenico Prattichizzo
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