Friction Compensation for a Force-feedback Telerobotic System

— This paper presents a model-based approach to cancel friction in the joints of the manipulators of a forcefeedback 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 masterslave system remains stable up to a certain level of friction compensation.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Mohsen Mahvash, Allison M. Okamura
• Keywords: Forcefeedback Telerobotic System, Friction Compensation, ICRA 2006, Robotics, Telerobotic Systems