HapticV1, PubMed, Curation, bibRecord, 001543

Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission.

Identifieur interne : 001543 ( PubMed/Curation ); précédent : 001542; suivant : 001544

Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission.

Auteurs : Mohsen Mahvash [États-Unis] ; Allison Okamura

Source :

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society [ 1552-3098 ] ; 2007.

RBID : pubmed:20514151

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.

DOI: 10.1109/TRO.2007.909825
PubMed: 20514151

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pubmed:20514151

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<front><div type="abstract" xml:lang="en">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.</div>
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Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission.

Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission.

Source :

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki