2025 Vol.8 Dec.N06

• Title: Research on Friction Compensation in Domestic Six-Degree-of-Freedom Force Feedback Devices
• Name: Chunyan Xiao
• Company: Science and Technology College of Nanchang University,Gongqingchengshi,332020,China
• Abstract:

   Friction compensation methods for force feedback devices primarily rely on static friction models. These methods establish friction characteristic curves through offline parameter identification and employ open-loop compensation via feedforward control. However, the difficulty in real-time tracking of friction state's time-varying characteristics leads to significant degradation in compensation accuracy under complex operating conditions. To address this, this paper presents a study on friction compensation for domestically produced six-degree-of-freedom force feedback devices. A tracking differential observer tracks the target position signal and extracts its derivative to generate a smooth transition trajectory and differential signal. This approach avoids system overshoot caused by step inputs while extracting high-quality differential signals for velocity feedback. An extended state observer unifies friction forces, external disturbances, and model uncertainties into a total disturbance, enabling real-time estimation of its dynamic variations and enhancing adaptability to variable load and speed conditions. Nonlinear state error feedback combines position and velocity errors to generate a basic control quantity. This is combined with the total disturbance estimate from the ESO for feedforward compensation, forming the final control command. The proposed method's compensation accuracy was verified experimentally. Test comparisons clearly demonstrate that when applying this method for friction compensation in force feedback devices, the step response overshoot stabilizes within ±2%, achieving highly satisfactory compensation performance.

  
  

• Keyword: Six degrees of freedom; Force feedback device; Friction compensation; Compensation accuracy;
• DOI: 10.12250/jpciams2025091110
• Citation form: 名字.题目[J]. Computer Informatization and Mechanical System,2025,Vol.8,pp.

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