Friction Compensation for Enhancing Transparency of a Teleoperator With Compliant Transmission

Achieving transparency for teleoperator systems under position and rate control

A four-channel data transmission structure has been suggested in the literature to achieve “transparency” for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixed position/rate mode. A one degree-of-freedom example ...

Friction Models and Friction Compensation

Friction occurs in all mechanical systems,e.g. bearings, transmissions, hydraulic and pneumatic cylinders, valves, brakes and wheels. Friction appears at the physical interface between two surfaces in contact. Lubricants such as grease or oil are often used but the there may also be a dry contact between the surfaces. Friction is strongly influenced by contaminations. There is a wide range of p...

Adaptive Friction Compensation of Servo Mechanisms with Nonlinear Viscous Friction

In this paper, a SDOF system with nonlinear viscous friction under harmonic excitation is studied. A nonlinear viscous friction model is built as an exponential expansion of the relative slip velocity. According to the adaptive control theory, an adaptive controller for the friction compensation of the SDOF system with nonlinear viscous friction is put forward by using the model-based parameter...

A Gain Scheduling Controller for Friction Compensation

Friction in mechanical systems can show a very complex behaviour. In addition to its non-linear dependence on the velocity, friction is also function of the position. In the vicinity of motion reversal points, i.e. in the prerolling/pre-sliding regime, the position dependence dominates and appears in the form of a rate-independent hysteresis with nonlocal memory. One of the ways of treating thi...

A study of friction models and friction compensation