Friction Compensation in Energy-Based Bilateral Telemanipulation

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)

Abstract

In bilateral telemanipulation algorithms based on time-domain passivity, internal friction in the devices poses an additional energy drain. Based on a model of the friction, the dissipated energy can be estimated and reclaimed inside the energy balance of the control algorithm. As long as the estimate is conservative, passivity of the entire system is maintained. In this paper we consider two types of friction and discuss the influence of two types of measurement noise. Without noise compensation the dissipated energy is largely overestimated. A compensation method based on the probability density of the noise is proposed. This leads to an energy estimate which is always conservative even in the presence of measurement noise and does not require additional filtering. Simulation results are provided that show the increase in obtained transparency when this energy compensation technique is applied.
Original languageEnglish
Title of host publication2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Pages5264-5269
Number of pages6
ISBN (Electronic)978-1-4244-6676-4
ISBN (Print)978-1-4244-6674-0
DOIs
Publication statusPublished - 19 Oct 2010
Event2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 18 Oct 201022 Oct 2010

Conference

Conference2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010
Abbreviated titleIROS
CountryTaiwan, Province of China
CityTaipei
Period18/10/1022/10/10

Fingerprint

Friction
Internal friction
Energy balance
Transparency
Compensation and Redress

Keywords

  • EWI-18693
  • METIS-271102

Cite this

Franken, M. C. J., Misra, S., & Stramigioli, S. (2010). Friction Compensation in Energy-Based Bilateral Telemanipulation. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5264-5269). IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2010.5652308
Franken, M.C.J. ; Misra, Sarthak ; Stramigioli, Stefano. / Friction Compensation in Energy-Based Bilateral Telemanipulation. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE ROBOTICS AND AUTOMATION SOCIETY, 2010. pp. 5264-5269
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title = "Friction Compensation in Energy-Based Bilateral Telemanipulation",
abstract = "In bilateral telemanipulation algorithms based on time-domain passivity, internal friction in the devices poses an additional energy drain. Based on a model of the friction, the dissipated energy can be estimated and reclaimed inside the energy balance of the control algorithm. As long as the estimate is conservative, passivity of the entire system is maintained. In this paper we consider two types of friction and discuss the influence of two types of measurement noise. Without noise compensation the dissipated energy is largely overestimated. A compensation method based on the probability density of the noise is proposed. This leads to an energy estimate which is always conservative even in the presence of measurement noise and does not require additional filtering. Simulation results are provided that show the increase in obtained transparency when this energy compensation technique is applied.",
keywords = "EWI-18693, METIS-271102",
author = "M.C.J. Franken and Sarthak Misra and Stefano Stramigioli",
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Franken, MCJ, Misra, S & Stramigioli, S 2010, Friction Compensation in Energy-Based Bilateral Telemanipulation. in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE ROBOTICS AND AUTOMATION SOCIETY, pp. 5264-5269, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, Province of China, 18/10/10. https://doi.org/10.1109/IROS.2010.5652308

Friction Compensation in Energy-Based Bilateral Telemanipulation. / Franken, M.C.J.; Misra, Sarthak; Stramigioli, Stefano.

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE ROBOTICS AND AUTOMATION SOCIETY, 2010. p. 5264-5269.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

TY - GEN

T1 - Friction Compensation in Energy-Based Bilateral Telemanipulation

AU - Franken, M.C.J.

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AU - Stramigioli, Stefano

PY - 2010/10/19

Y1 - 2010/10/19

N2 - In bilateral telemanipulation algorithms based on time-domain passivity, internal friction in the devices poses an additional energy drain. Based on a model of the friction, the dissipated energy can be estimated and reclaimed inside the energy balance of the control algorithm. As long as the estimate is conservative, passivity of the entire system is maintained. In this paper we consider two types of friction and discuss the influence of two types of measurement noise. Without noise compensation the dissipated energy is largely overestimated. A compensation method based on the probability density of the noise is proposed. This leads to an energy estimate which is always conservative even in the presence of measurement noise and does not require additional filtering. Simulation results are provided that show the increase in obtained transparency when this energy compensation technique is applied.

AB - In bilateral telemanipulation algorithms based on time-domain passivity, internal friction in the devices poses an additional energy drain. Based on a model of the friction, the dissipated energy can be estimated and reclaimed inside the energy balance of the control algorithm. As long as the estimate is conservative, passivity of the entire system is maintained. In this paper we consider two types of friction and discuss the influence of two types of measurement noise. Without noise compensation the dissipated energy is largely overestimated. A compensation method based on the probability density of the noise is proposed. This leads to an energy estimate which is always conservative even in the presence of measurement noise and does not require additional filtering. Simulation results are provided that show the increase in obtained transparency when this energy compensation technique is applied.

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KW - METIS-271102

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BT - 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Franken MCJ, Misra S, Stramigioli S. Friction Compensation in Energy-Based Bilateral Telemanipulation. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE ROBOTICS AND AUTOMATION SOCIETY. 2010. p. 5264-5269 https://doi.org/10.1109/IROS.2010.5652308