A comparative study of friction estimation and compensation using extended, iterated, hybrid, and unscented kalman filters
2013 (English)In: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - 2013, ASME Press, 2013Conference paper (Refereed)
Transparency is a key performance evaluation criterion for haptic devices, which describes how realistically the haptic force/torque feedback is mimicked from a virtual environment or in case of master-slave haptic device. Transparency in haptic devices is affected by disturbance forces like friction between moving parts. An accurate estimate of friction forces for observer based compensation requires estimation techniques, which are computationally efficient and gives reduced error between measured and estimated friction. In this work different estimation techniques based on Kalman filter, such as Extended Kalman filter (EKF), Iterated Extended Kalman filter (IEKF), Hybrid extended Kalman filter (HEKF) and Unscented Kalman filter (UKF) are investigated with the purpose to find which estimation technique that gives the most efficient and realistic compensation using online estimation. The friction observer is based on a newly developed friction smooth generalized Maxwell slip model (S-GMS). Each studied estimation technique is demonstrated by numerical and experimental simulation of sinusoidal position tracking experiments. The performances of the system are quantified with the normalized root mean-square error (NRMSE) and the computation time. The results from comparative analyses suggest that friction estimation and compensation based on Iterated Extended Kalman filter both gives a reduced tracking error and computational advantages compared to EKF, HEKF, UKF, as well as with no friction compensation.
Place, publisher, year, edition, pages
ASME Press, 2013.
Design, Error compensation, Estimation, Extended Kalman filters, Nonlinear filtering, Transparency, Tribology, Virtual reality, Computational advantages, Computationally efficient, Experimental simulations, Generalized Maxwell-slip model, Hybrid extended kalman filters, Iterated extended Kalman filter, Performance evaluation criteria, Unscented Kalman Filter, Friction
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-147292DOI: 10.1115/DETC2013-12997ScopusID: 2-s2.0-84896922285ISBN: 978-0-7918-5596-6OAI: oai:DiVA.org:kth-147292DiVA: diva2:729513
ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013; Portland, OR; United States; 4 August 2013 through 7 August 2013
QC 201406262014-06-262014-06-252014-06-26Bibliographically approved