Referenced Items are not available for this document.
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.
Published in:
Robotics, IEEE Transactions on
(Volume:23
,
Issue:
6
)
Date of Publication: Dec. 2007
- Page(s):
- 1240 - 1246
- ISSN :
- 1552-3098
- INSPEC Accession Number:
- 9747459
- Digital Object Identifier :
- 10.1109/TRO.2007.909825
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 18 December 2007
- Issue Date :
- Dec. 2007
- Sponsored by :
- IEEE Robotics and Automation Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
