Sliding mode friction compensation for a 20 DOF sensor glove

被引：9
|
作者：
Korondi, P [1 ]
Szemes, PT [1 ]
Hasimoto, H [1 ]
机构：
[1] Univ Tokyo, Inst Ind Sci, Minato Ku, 7-22-1 Roppongi, Tokyo 106, Japan
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2000年 / 122卷 / 04期
关键词：
friction compensation; disturbance observers and sliding mode observer;
D O I：
10.1115/1.1317232
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom. [S0022-0434(00)01104-7].
引用
收藏
页码：611 / 615
页数：5
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