Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission.
This article presents a model-based compensator for canceling friction in the tendon-driven joints of a haptic-feedback teleoperator. Unlike position-tracking systems, a teleoperator involves an unknown environment force that prevents the use of tracking position error as a feedback to the compensator. Thus, we use a model-based feedforward friction compensator to cancel the friction forces. We provide conditions for selecting compensator parameters to ensure passivity of the teleoperator and demonstrate performance experimentally.
Engineering Research Center for Computer Integrated Surgical Systems and Technology (ERC-CISST), the Johns Hopkins University, Baltimore, MD 21218 USA.
Mohsen
M
Mahvash
Allison
A
Okamura