Friction Compensation and Control Strategy for the Dexterous Robotic Hands

Friction in tendon based robot hands has been an unavoidable problem. With introduction of more dexterous and metamorphic hands this intrinsically non-linear and highly time-varying force has become an obstacle to achieve high performances and required accuracy which the robot designers are aiming for. This paper proposes a method to tackle the problem by measuring friction and applying it in a feed forward loop. The novelty of the method is in the possibility to perform the task automatically and on a regular basis to compensate the time varying phenomenon.