Multi-source micro-friction identification for a class of cable-driven robots with passive backbone
This paper analyses the dynamics of cable-driven robots with a passive backbone and develops techniques for their dynamic identification, which are tested on the H-Man, a planar cabled differential transmission robot for haptic interaction. The mechanism is optimized for human–robot interaction by a...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2017
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/83111 http://hdl.handle.net/10220/42439 |
| _version_ | 1826122756538761216 |
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| author | Tjahjowidodo, Tegoeh Zhu, Ke Dailey, Wayne Burdet, Etienne Campolo, Domenico |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Tjahjowidodo, Tegoeh Zhu, Ke Dailey, Wayne Burdet, Etienne Campolo, Domenico |
| author_sort | Tjahjowidodo, Tegoeh |
| collection | NTU |
| description | This paper analyses the dynamics of cable-driven robots with a passive backbone and develops techniques for their dynamic identification, which are tested on the H-Man, a planar cabled differential transmission robot for haptic interaction. The mechanism is optimized for human–robot interaction by accounting for the cost-benefit-ratio of the system, specifically by eliminating the necessity of an external force sensor to reduce the overall cost. As a consequence, this requires an effective dynamic model for accurate force feedback applications which include friction behavior in the system. We first consider the significance of friction in both the actuator and backbone spaces. Subsequently, we study the required complexity of the stiction model for the application. Different models representing different levels of complexity are investigated, ranging from the conventional approach of Coulomb to an advanced model which includes hysteresis. The results demonstrate each model's ability to capture the dynamic behavior of the system. In general, it is concluded that there is a trade-off between model accuracy and the model cost. |
| first_indexed | 2024-10-01T05:53:43Z |
| format | Journal Article |
| id | ntu-10356/83111 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:53:43Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | ntu-10356/831112023-03-04T17:14:55Z Multi-source micro-friction identification for a class of cable-driven robots with passive backbone Tjahjowidodo, Tegoeh Zhu, Ke Dailey, Wayne Burdet, Etienne Campolo, Domenico School of Mechanical and Aerospace Engineering Transparent haptic interface Cable-driven robot with passive backbone This paper analyses the dynamics of cable-driven robots with a passive backbone and develops techniques for their dynamic identification, which are tested on the H-Man, a planar cabled differential transmission robot for haptic interaction. The mechanism is optimized for human–robot interaction by accounting for the cost-benefit-ratio of the system, specifically by eliminating the necessity of an external force sensor to reduce the overall cost. As a consequence, this requires an effective dynamic model for accurate force feedback applications which include friction behavior in the system. We first consider the significance of friction in both the actuator and backbone spaces. Subsequently, we study the required complexity of the stiction model for the application. Different models representing different levels of complexity are investigated, ranging from the conventional approach of Coulomb to an advanced model which includes hysteresis. The results demonstrate each model's ability to capture the dynamic behavior of the system. In general, it is concluded that there is a trade-off between model accuracy and the model cost. NMRC (Natl Medical Research Council, S’pore) Accepted version 2017-05-17T03:45:09Z 2019-12-06T15:12:03Z 2017-05-17T03:45:09Z 2019-12-06T15:12:03Z 2016 Journal Article Tjahjowidodo, T., Zhu, K., Dailey, W., Burdet, E., & Campolo, D. (2016). Multi-source micro-friction identification for a class of cable-driven robots with passive backbone. Mechanical Systems and Signal Processing, 80, 152-165. 0888-3270 https://hdl.handle.net/10356/83111 http://hdl.handle.net/10220/42439 10.1016/j.ymssp.2016.04.032 en Mechanical Systems and Signal Processing © 2016 Elsevier Ltd. This is the author created version of a work that has been peer reviewed and accepted for publication by Mechanical Systems and Signal Processing, Elsevier. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [http://dx.doi.org/10.1016/j.ymssp.2016.04.032]. 29 p. application/pdf |
| spellingShingle | Transparent haptic interface Cable-driven robot with passive backbone Tjahjowidodo, Tegoeh Zhu, Ke Dailey, Wayne Burdet, Etienne Campolo, Domenico Multi-source micro-friction identification for a class of cable-driven robots with passive backbone |
| title | Multi-source micro-friction identification for a class of cable-driven robots with passive backbone |
| title_full | Multi-source micro-friction identification for a class of cable-driven robots with passive backbone |
| title_fullStr | Multi-source micro-friction identification for a class of cable-driven robots with passive backbone |
| title_full_unstemmed | Multi-source micro-friction identification for a class of cable-driven robots with passive backbone |
| title_short | Multi-source micro-friction identification for a class of cable-driven robots with passive backbone |
| title_sort | multi source micro friction identification for a class of cable driven robots with passive backbone |
| topic | Transparent haptic interface Cable-driven robot with passive backbone |
| url | https://hdl.handle.net/10356/83111 http://hdl.handle.net/10220/42439 |
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