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Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission
Mohsen Mahvash1, Allison Okamura
1Engineering Research Center for Computer Integrated Surgical Systems and Technology (ERC-CISST), the Johns Hopkins University, Baltimore, MD 21218 USA.
IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|June 2, 2010
Summary
This study introduces a model-based compensator to cancel friction in haptic-feedback teleoperators. This approach effectively addresses unknown environmental forces, ensuring stable and accurate remote operation.
Area of Science:
- Robotics
- Control Systems
- Human-Computer Interaction
Background:
- Tendon-driven haptic-feedback teleoperators are susceptible to friction in their joints.
- Friction can degrade performance and hinder accurate force feedback.
- Traditional position-tracking systems are insufficient due to unknown environmental forces.
Purpose of the Study:
- To develop and present a model-based compensator for canceling friction in tendon-driven joints.
- To address the challenge of unknown environmental forces in teleoperation.
- To ensure the passivity of the teleoperator system.
Main Methods:
- A model-based feedforward friction compensator was designed.
- Conditions for selecting compensator parameters were established.
- Experimental validation of the compensator's performance was conducted.
Main Results:
- The proposed compensator effectively cancels friction forces in tendon-driven joints.
- The selected compensator parameters ensure the passivity of the teleoperator.
- Experimental results demonstrate the successful performance of the friction cancellation.
Conclusions:
- Model-based feedforward compensation is a viable strategy for mitigating friction in haptic teleoperators.
- The developed method enhances the stability and performance of teleoperation systems.
- This work contributes to more robust and reliable haptic feedback systems.
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