Mahvash Mohsen, Okamura Allison
Engineering Research Center for Computer Integrated Surgical Systems and Technology (ERC-CISST), the Johns Hopkins University, Baltimore, MD 21218 USA.
IEEE Trans Robot. 2007 Dec 1;23(6):1240-1246. doi: 10.1109/TRO.2007.909825.
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.
本文提出了一种基于模型的补偿器，用于消除触觉反馈遥操作器肌腱驱动关节中的摩擦力。与位置跟踪系统不同，遥操作器涉及未知的环境力，这使得无法将跟踪位置误差用作补偿器的反馈。因此，我们使用基于模型的前馈摩擦补偿器来消除摩擦力。我们提供了选择补偿器参数的条件，以确保遥操作器的无源性，并通过实验证明了其性能。
