Utilization of motor current based torque feedback to improve the transparency of haptic interfaces
Identifieur interne : 002695 ( Main/Curation ); précédent : 002694; suivant : 002696Utilization of motor current based torque feedback to improve the transparency of haptic interfaces
Auteurs : Ozgur Baser [Turquie] ; E. Ilhan Konukseven [Turquie]Source :
- Mechanism and machine theory [ 0094-114X ] ; 2012.
Descripteurs français
- Pascal (Inist)
- Commande couple, Rétroaction, Commande boucle fermée, Programme commande, Boucle réaction, Couple moteur, Courant électrique, Transparence, Interface utilisateur, Sensibilité tactile, Actionneur, Capteur courant, Mécanisme plan, Mécanisme articulé, Coude, Modélisation, Métrique, Simulation ordinateur, Inertie, ..
English descriptors
- KwdEn :
Abstract
In this paper motor current based torque feedback compensator is utilized in actuator space together with a closed loop impedance control algorithm instead of model based compensator to improve the transparency performance of haptic interfaces; moreover, a novel transparency evaluation metric is developed to evaluate the transparency performance of these devices. The proposed control algorithm is experimentally tested on a 1 DOF haptic device by employing a low-cost current sensor. It is also tested on a MATLAB/Simmechanics® model of a 2 DOF serial planar elbow type haptic manipulator to show that it is applicable to multi-DOF haptic systems. Free-motion, virtual-load and virtual-wall performance tests are conducted to compare the performance of the proposed control algorithm with the alternative algorithms by means of apparent inertial effects. The results show that the proposed algorithm significantly improves the transparency of the haptic devices.
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Pascal:12-0249715Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Utilization of motor current based torque feedback to improve the transparency of haptic interfaces</title><author><name sortKey="Baser, Ozgur" sort="Baser, Ozgur" uniqKey="Baser O" first="Ozgur" last="Baser">Ozgur Baser</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Middle East Technical University</s1><s2>06531, Ankara</s2><s3>TUR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Turquie</country><wicri:noRegion>06531, Ankara</wicri:noRegion></affiliation></author><author><name sortKey="Ilhan Konukseven, E" sort="Ilhan Konukseven, E" uniqKey="Ilhan Konukseven E" first="E." last="Ilhan Konukseven">E. Ilhan Konukseven</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Middle East Technical University</s1><s2>06531, Ankara</s2><s3>TUR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Turquie</country><wicri:noRegion>06531, Ankara</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">12-0249715</idno><date when="2012">2012</date><idno type="stanalyst">PASCAL 12-0249715 INIST</idno><idno type="RBID">Pascal:12-0249715</idno><idno type="wicri:Area/PascalFrancis/Corpus">000323</idno><idno type="wicri:Area/PascalFrancis/Curation">001013</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000182</idno><idno type="wicri:doubleKey">0094-114X:2012:Baser O:utilization:of:motor</idno><idno type="wicri:Area/Main/Merge">002723</idno><idno type="wicri:Area/Main/Curation">002695</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Utilization of motor current based torque feedback to improve the transparency of haptic interfaces</title><author><name sortKey="Baser, Ozgur" sort="Baser, Ozgur" uniqKey="Baser O" first="Ozgur" last="Baser">Ozgur Baser</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Middle East Technical University</s1><s2>06531, Ankara</s2><s3>TUR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Turquie</country><wicri:noRegion>06531, Ankara</wicri:noRegion></affiliation></author><author><name sortKey="Ilhan Konukseven, E" sort="Ilhan Konukseven, E" uniqKey="Ilhan Konukseven E" first="E." last="Ilhan Konukseven">E. Ilhan Konukseven</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Middle East Technical University</s1><s2>06531, Ankara</s2><s3>TUR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Turquie</country><wicri:noRegion>06531, Ankara</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">Mechanism and machine theory</title><title level="j" type="abbreviated">Mech. mach. theory</title><idno type="ISSN">0094-114X</idno><imprint><date when="2012">2012</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Mechanism and machine theory</title><title level="j" type="abbreviated">Mech. mach. theory</title><idno type="ISSN">0094-114X</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Actuator</term><term>Closed feedback</term><term>Computer simulation</term><term>Control program</term><term>Current sensor</term><term>Elbow</term><term>Electric current</term><term>Feedback</term><term>Feedback regulation</term><term>Inertia</term><term>Linkage mechanism</term><term>Metric</term><term>Modeling</term><term>Motor torque</term><term>Planar mechanism</term><term>Tactile sensitivity</term><term>Torque control</term><term>Transparency</term><term>User interface</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Commande couple</term><term>Rétroaction</term><term>Commande boucle fermée</term><term>Programme commande</term><term>Boucle réaction</term><term>Couple moteur</term><term>Courant électrique</term><term>Transparence</term><term>Interface utilisateur</term><term>Sensibilité tactile</term><term>Actionneur</term><term>Capteur courant</term><term>Mécanisme plan</term><term>Mécanisme articulé</term><term>Coude</term><term>Modélisation</term><term>Métrique</term><term>Simulation ordinateur</term><term>Inertie</term><term>.</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper motor current based torque feedback compensator is utilized in actuator space together with a closed loop impedance control algorithm instead of model based compensator to improve the transparency performance of haptic interfaces; moreover, a novel transparency evaluation metric is developed to evaluate the transparency performance of these devices. The proposed control algorithm is experimentally tested on a 1 DOF haptic device by employing a low-cost current sensor. It is also tested on a MATLAB/Simmechanics® model of a 2 DOF serial planar elbow type haptic manipulator to show that it is applicable to multi-DOF haptic systems. Free-motion, virtual-load and virtual-wall performance tests are conducted to compare the performance of the proposed control algorithm with the alternative algorithms by means of apparent inertial effects. The results show that the proposed algorithm significantly improves the transparency of the haptic devices.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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