NDLI: Canceling Induced Master Motion in Force-Reflecting Teleoperation

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Katherine, J. Kuchenbecker Niemeyer, Gu¨nter
Copyright Year	2004
Abstract	Providing the user with high-fidelity force feedback has persistently challenged the field of telerobotics. This paper presents a new approach for achieving stable, high-gain force reflection via cancellation of the master mechanism’s induced motion. In a classic position-force controller, high force-feedback levels drive the system’s internal master-slave loop unstable during contact with the remote environment. Lowering the force-feedback gain ensures stability but diminishes the haptic cues available to the user, masking contacts and preventing hard objects from feeling appropriately stiff. The proposed cancellation approach permits high levels of force feedback by attenuating only the controller’s internal loop. Using a model of the master mechanism’s response to applied force feedback, an estimate of induced high-frequency movement is substracted from the master’s measured position to approximate the user’s intended path for the slave. The cancellation technique is described, modeled, and validated herein, including testing on a one-degree-of-freedom telerobotic system. It is shown to improve the feel of the system, tripling the testbed’s achievable force-feedback gain without compromising stability.
Sponsorship	Dynamic Systems and Control Division
Starting Page	1091
Ending Page	1098
Page Count	8
File Format	PDF
ISBN	0791847063
DOI	10.1115/IMECE2004-60049
Volume Number	Dynamic Systems and Control, Parts A and B
Conference Proceedings	ASME 2004 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2004-11-13
Publisher Place	Anaheim, California, USA
Access Restriction	Subscribed
Subject Keyword	Reflection Haptics Stability Force feedback Control equipment Testing
Content Type	Text
Resource Type	Article

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