FRICTION COMPENSATION IN A MINIMALLY INVASIVE SURGICAL APPARATUS

摘要

Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.

主权项

1. A telepresence system comprising:
a master including an input device supported by a driven joint; a slave including an end effector supported by a driven joint; a controller coupling the master to the slave, the controller directing the end effector to move in sympathy with the input device; a sensor operatively associated with at least one of the driven joints for generating a velocity reading; and an actuator drivingly engaging the at least one driven joint, the actuator applying an oscillating load on the joint to compensate for static friction of the joint when the velocity reading is within a low velocity range.