Friction compensation for a force-feedback telerobotic system

被引：32

作者：

Mahvash, Mohsen ^{[1
]}

Okamura, Allison M. ^{[1
]}

机构：

[1] Johns Hopkins Univ, Dept Mech Engn, Engn Res Ctr Comp Integrated Surg Syst & Technol, Baltimore, MD 21218 USA

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

基金：

美国国家科学基金会; 美国国家卫生研究院;

关键词：

D O I：

10.1109/ROBOT.2006.1642200

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a model-based approach to cancel friction in the joints of the manipulators of a force-feedback telerobotic system. Friction compensation can improve the transparency of telerobotic systems, where transparency is quantified in terms of a match between the impedance of the environment and the impedance transmitted to the user. We used Dahl friction models to compensate for physical friction in the device. Experiments performed on a telerobotic system demonstrated that teleoperation transparency is improved by using these models. Further, the stability of the teleoperation is analyzed using passivity theory, and it is shown that the master-slave system remains stable up to a certain level of friction compensation.

引用

页码：3268 / +

页数：2

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