Online compensation of gravity and friction for haptics with incremental position sensors

Satoshi Fukushima, Hiromu Sekiguchi, Yuki Saito, Takahiro Nozaki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes an online compensation method of gravity and friction by least squares method (LSM) for robots implementing haptics. In order to expand the range of tasks using the robot such as telepresence robot, implementing haptics technology is essential. However, with higher gear ratio motors, the friction lowers the quality of the haptic transmission. In order to comfortably control the robot with haptics, compensation of gravity and friction torques are essential. In the case of bilateral control, incremental position encoders are often used because they are easy to use at low cost. However, with the conventional method, the control start position must always be returned to the same initial value in order achieve the gravity torque compensation, as the value of the angle can not be stored with incremental encoders. In order to estimate and compensate the gravity and friction torque from any starting position of the robot, this paper proposes a new online compensation method using LSM while achieving the bilateral control. Using the proposed method, the absolute encoder is not necessary, and no matter where the starting position of the control is, the gravity torque and friction torque can be compensated, allowing a comfortable control for the operator. The validity of the proposed method was confirmed by the experiment.

Original languageEnglish
Title of host publication2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
Volume2017-December
ISBN (Electronic)9781509065462
DOIs
Publication statusPublished - 2017 Dec 14
Event24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 - Auckland, New Zealand
Duration: 2017 Nov 212017 Nov 23

Other

Other24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
CountryNew Zealand
CityAuckland
Period17/11/2117/11/23

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Keywords

  • Bilateral control
  • gravity and friction compensation
  • haptics
  • least squares method
  • telepresence robot

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Optimization

Cite this

Fukushima, S., Sekiguchi, H., Saito, Y., Nozaki, T., & Ohnishi, K. (2017). Online compensation of gravity and friction for haptics with incremental position sensors. In 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 (Vol. 2017-December, pp. 1-6). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/M2VIP.2017.8211458