Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device
The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor. An ea...
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| Veröffentlicht in: | Presence : teleoperators and virtual environment 2008-08, Vol.17 (4), p.327-343 |
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| container_title | Presence : teleoperators and virtual environment |
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| creator | Taati, Babak Tahmasebi, Amir M. Hashtrudi-Zaad, Keyvan |
| description | The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor.
An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation. |
| doi_str_mv | 10.1162/pres.17.4.327 |
| format | Article |
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An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation.</description><identifier>ISSN: 1054-7460</identifier><identifier>EISSN: 1531-3263</identifier><identifier>DOI: 10.1162/pres.17.4.327</identifier><language>eng</language><publisher>One Rogers Street, Cambridge, MA 02142-1209, USA: MIT Press</publisher><ispartof>Presence : teleoperators and virtual environment, 2008-08, Vol.17 (4), p.327-343</ispartof><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c360t-1adbfa99a12d465e9788650752ad2a7945ecd7951fd1123f3919280fd0f5762c3</citedby><cites>FETCH-LOGICAL-c360t-1adbfa99a12d465e9788650752ad2a7945ecd7951fd1123f3919280fd0f5762c3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://direct.mit.edu/pres/article/doi/10.1162/pres.17.4.327$$EHTML$$P50$$Gmit$$H</linktohtml><link.rule.ids>314,780,784,27924,27925,54009,54010</link.rule.ids></links><search><creatorcontrib>Taati, Babak</creatorcontrib><creatorcontrib>Tahmasebi, Amir M.</creatorcontrib><creatorcontrib>Hashtrudi-Zaad, Keyvan</creatorcontrib><title>Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device</title><title>Presence : teleoperators and virtual environment</title><description>The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor.
An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation.</description><issn>1054-7460</issn><issn>1531-3263</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2008</creationdate><recordtype>article</recordtype><recordid>eNptkD1v3DAMho0iAXq5dOyuqUAHO6RkSdZo5KMXIG0yJLOqyhKqg78q-Q65_voqvWzJRBJ4-BJ8iuIzQoUo6MUcXapQVnXFqPxQrJAzLBkV7CT3wOtS1gI-FmcpbQEARVOvip_Xz7OLYXDjYnpy2-UafLBmCdNIzNiRdjT9IYVEJk-W345cHUYzBPt_NuRh0_54nL6Th-iGsBsIVrwlGzMvwZIrtw_WnRen3vTJfXqt6-Lp5vrxclPe3X-7vWzvSssELCWa7pc3ShmkXS24U7JpBAfJqemokarmznZScfQdImWeKVS0Ad-B51JQy9bFl2PuHKc_O5cWPYRkXd-b0U27pFkNCpoGMlgeQRunlKLzes7_m3jQCPrFo37xqFHqWmePmW-P_BAWvZ12MQtJet6buEcZMgOModAUKOZ1DUr_DfObjK_vZLx_7x8rJ4fe</recordid><startdate>20080801</startdate><enddate>20080801</enddate><creator>Taati, Babak</creator><creator>Tahmasebi, Amir M.</creator><creator>Hashtrudi-Zaad, Keyvan</creator><general>MIT Press</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>20080801</creationdate><title>Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device</title><author>Taati, Babak ; Tahmasebi, Amir M. ; Hashtrudi-Zaad, Keyvan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c360t-1adbfa99a12d465e9788650752ad2a7945ecd7951fd1123f3919280fd0f5762c3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2008</creationdate><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Taati, Babak</creatorcontrib><creatorcontrib>Tahmasebi, Amir M.</creatorcontrib><creatorcontrib>Hashtrudi-Zaad, Keyvan</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Presence : teleoperators and virtual environment</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Taati, Babak</au><au>Tahmasebi, Amir M.</au><au>Hashtrudi-Zaad, Keyvan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device</atitle><jtitle>Presence : teleoperators and virtual environment</jtitle><date>2008-08-01</date><risdate>2008</risdate><volume>17</volume><issue>4</issue><spage>327</spage><epage>343</epage><pages>327-343</pages><issn>1054-7460</issn><eissn>1531-3263</eissn><abstract>The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor.
An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation.</abstract><cop>One Rogers Street, Cambridge, MA 02142-1209, USA</cop><pub>MIT Press</pub><doi>10.1162/pres.17.4.327</doi><tpages>17</tpages></addata></record> |
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| title | Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device |
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