Friction compensation for a force-feedback telerobotic system

Author

Mahvash, Mohsen ; Okamura, Allison M.

Author_Institution

Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD

fYear

2006

fDate

15-19 May 2006

Firstpage

3268

Lastpage

3273

Abstract

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

Keywords

compensation; force feedback; friction; manipulator dynamics; stability; telerobotics; Dahl friction models; force-feedback telerobotic system; friction compensation; manipulators; master-slave system; passivity theory; Force feedback; Friction; Impedance; Manipulators; Master-slave; Robots; Stability analysis; Surgery; Surges; Telerobotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642200

Filename

1642200