Dynamic parameter identification and analysis of a PHANToM haptic device

Author

Tahmasebi, Amir M. ; Taati, Babak ; Mobasser, Farid ; Hashtrudi-Zaad, Keyvan

Author_Institution

Sch. of Comput., Queen´´s Univ., Kingston, Ont.

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

1251

Lastpage

1256

Abstract

In this paper, the dynamics of a SensAble Technologies PHANToM Premium 1.5 haptic device is experimentally identified and analyzed. Towards this purpose, the dynamic model derived in the work of M. C. Cavusoglu and D. Feygin (2001) is augmented with a friction model and is linearly parameterized. The identified model predicts joint torques with over 95% accuracy and produces an inertia matrix that is confirmed to be positive-definite within the device workspace. In addition, user hand force estimates with and without including the identified dynamics are compared with the measured values. The experiments are also conducted for other typical installation conditions of the device, such as with force sensor mounted at the end-effector, using gimbal and counterbalance weight, and upside-down installation of the device. The identified dynamic model can be used for hand force estimation, accurate gravity counterbalancing for different installation conditions, and model-based control systems design for haptic simulation and tele-operation applications

Keywords

haptic interfaces; matrix algebra; parameter estimation; PHANToM; control systems design; counterbalance weight; dynamic parameter analysis; dynamic parameter identification; end-effector; force sensor; friction model; gimbal weight; gravity counterbalancing; haptic device; haptic simulation; inertia matrix; teleoperation; user hand force estimation; Control system synthesis; Force control; Force measurement; Force sensors; Friction; Gravity; Haptic interfaces; Imaging phantoms; Parameter estimation; Predictive models;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507303

Filename

1507303