Estimation of inertial parameters of manipulator loads and links
International Journal of Robotics Research
Adaptive Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Neural Networks for Identification, Prediction, and Control
Neural Networks for Identification, Prediction, and Control
Presence: Teleoperators and Virtual Environments
Experimental Examination of the Identification Methods for an Industrial Robot Manipulator
The 2nd International Symposium on Experimental Robotics II
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Transparent Rate Mode Bilateral Teleoperation Control
International Journal of Robotics Research
Neural-Network-Based Contact Force Observers for Haptic Applications
IEEE Transactions on Robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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The dynamics of a PHANToM Premium 1.5A haptic device from SensAble Technologies, Inc. is experimentally identified and analyzed for different installations of the device and its accessories, such as the typical upright, upside down, with gimbal and counterbalance weight, and with force sensor.1 An earlier formulation of the robot dynamic model is augmented with a friction model, linearly parameterized, and experimentally identified using least squares. The identified dynamics are experimentally evaluated with an inverse dynamics controller and verified by comparing user hand force estimates with the measured values. The contribution of different dynamic terms such as inertial, Coriolis and centrifugal, gravitational, and Coulomb and viscous friction are demonstrated and discussed. The identified model can be used for a variety of haptic applications, such as hand force estimation, accurate active gravity compensation and counterbalance weight determination for various installation conditions, and model-based control for haptic simulation and teleoperation.