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.
Mahvash
Mohsen
M
Engineering Research Center for Computer Integrated Surgical Systems and Technology (ERC-CISST), the Johns Hopkins University, Baltimore, MD 21218 USA.
Okamura
Allison
A