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Friction Compensation for Enhancing Transparency of a Teleoperator With Compliant Transmission

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2 Author(s)
Mahvash, M. ; Johns Hopkins Univ., Baltimore ; Okamura, A.

This paper 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.

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Robotics, IEEE Transactions on  (Volume:23 ,  Issue: 6 )