Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission
Identifieur interne : 001562 ( Ncbi/Curation ); précédent : 001561; suivant : 001563Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission
Auteurs : Mohsen Mahvash ; Allison OkamuraSource :
- IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society [ 1552-3098 ] ; 2007.
Abstract
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.
Url:
DOI: 10.1109/TRO.2007.909825
PubMed: 20514151
PubMed Central: 2877600
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