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Evaluation of friction models for haptic devices
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.). (Haptic Group)
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.). (System and Component Design)ORCID iD: 0000-0001-6692-2794
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.). (System and Component Design)
2013 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this work different friction models are evaluated to determine how well these models are suited for performance simulation and control of a 6-DOF haptic device. The studied models include, Dahl model, LuGre model, Generalized Maxwell slip model (GMS), smooth Generalized Maxwell slip model (S-GMS) and Differential Algebraic Multistate (DAM) friction model. These models are evaluated both numerically and experimentally with an existing 6-DOF haptic device that is based on a Stewart platform. In order to evaluate how well these models compensate friction, a model-based feedback friction compensation strategy along with a PID controller were used for position fracking accuracy The accuracies of the friction compensation models are examined separately for both low-velocity and high-velocity motions of the system. To evaluate these models, we use criteria based on fidelity to predict realistic friction phenomena, easiness to implement, computational efficiency and easiness to estimate the model parameters. Experimental results show that friction compensated with GMS, S-GMS and DAA4 models give better accuracy in terms of standard deviation, Root Mean Squared Error, and maximum error between a reference and measured trajectory. Based on the criteria of fidelity, ease of implementation and ease to estimate model parameters, the S-GMS model, which represents a smooth transition between sliding and pre-sliding regime through an analytical set of differential equations, is suggested.

Place, publisher, year, edition, pages
2013.
National Category
Other Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-144212DOI: 10.1115/DSCC2013-3982ISI: 000337043200053Scopus ID: 2-s2.0-84902380574ISBN: 978-0-7918-5613-0 (print)OAI: oai:DiVA.org:kth-144212DiVA: diva2:712414
Conference
DSCC 2013 ASME Dynamic Systems and Control Conference October 21-23, 2013
Note

QC 20140415

Available from: 2014-04-15 Created: 2014-04-15 Last updated: 2014-07-10Bibliographically approved
In thesis
1. Effective development of haptic devices using a model-based and simulation-driven design approach
Open this publication in new window or tab >>Effective development of haptic devices using a model-based and simulation-driven design approach
2014 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Virtual reality (VR)-based surgical simulators using haptic devices can increase the effectiveness of surgical training for surgeons when performing surgical procedures in hard tissues such as bones or teeth milling. The realism of virtual surgery through a surgical simulator depends largely on the precision and reliability of the haptic device, which reflects the interaction with the virtual model. The quality of perceptiveness (sensation, force/torque) depends on the design of the haptic device, which presents a complex design space due to its multi-criteria and conflicting character of functional and performance requirements. These requirements include high stiffness, large workspace, high manipulability, small inertia, low friction, high transparency, and cost constraints.

This thesis proposes a design methodology to improve the realism of force/torque feedback from the VR-based surgical simulator while fulfilling end-user requirements.

The main contributions of this thesis are:

1. The development of a model-based and simulation-driven design methodology, where one starts from an abstract, top-level model that is extended via stepwise refinements and design space exploration into a detailed and integrated systems model that can be physically realized.

2. A methodology for creating an analytical and compact model of the quasi-static stiffness of a haptic device, which considers the stiffness of actuation systems, flexible links and passive joints.

3. A robust design optimization approach to find the optimal numerical values for a set of design parameters to maximize the kinematic, dynamic and kinetostatic performances of a 6-degrees of freedom (DOF) haptic device, while minimizing its sensitivity to variations in manufacturing tolerances and cost, and also satisfying the allowed variations in the performance indices.

4. A cost-effective approach for force/torque feedback control using force/torque estimated through a recursive least squares estimation.

5. A model-based control strategy to increase transparency and fidelity of force/torque feedback from the device by compensating for the natural dynamics of the device, friction in joints, gravity of platform, and elastic deformations.

 

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2014. xiii, 55 p.
Series
TRITA-MMK, ISSN 1400-1179 ; 2014:02
Keyword
Haptic device, model-based design, design optimization
National Category
Other Mechanical Engineering
Identifiers
urn:nbn:se:kth:diva-144216 (URN)978-91-7595-063-1 (ISBN)
Public defence
2014-04-23, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note

QC 20140415

Available from: 2014-04-15 Created: 2014-04-15 Last updated: 2014-04-15Bibliographically approved

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Kjell, Andersson

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