Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots
A backlash hysteresis and friction model for tendon-sheath system are developed. The parameters of the models are identified and optimized for the test setup. The proposed scheme is used in feedforward for control purpose. The friction model is used to provide haptic information. The proposed models and control structure are validated satisfactorily.
control hysteresis tendon-sheath dynamic friction identification haptic feedback