A teleoperation system is used for controlling a robot at a long distance. This technology can be applied in human-unfriendly environments, like nuclear sites and the deep sea. In order to protect the robot from damage and improve performance, haptic rendering methods give the human operator a better understanding of the interaction between the working environment and telerobot.
In point-cloud based model mediated teleoperation systems, to improve haptic feelings for operators, an array of robotic sensors is used to obtain point-cloud data and to render forces. This assignment aims to research how to use a coulomb, viscous friction model with a recursive least-square method to solve the parameter estimation problems.
The final results show that the design of this project can render a relatively accurate friction force in simulation.
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