The apparent gravity force acting on the end-effector of a haptic device depends on its position inside the workspace. We present an off-line recursive algorithm to automatically estimate the required gravity compensation terms to be applied to the end-effector at a given set of positions, corresponding to the vertices of a cubic grid contained into the device workspace. On-line gravity compensation is then performed exploiting trilinear interpolation to compute gravity compensation term in any position of the workspace. Experiments shown that the effect of gravity can be compensated almost homogeneously with respect to end-effector position in the workspace, independently from the device kinematics and from the particular orientation in which the haptic device has been displaced.
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