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
相关论文
共 50 条
  • [21] On the Mathematical Background of Sliding Mode-Based Friction Compensation of a Micro-Telemanipulation System
    Korondi, Peter
    Fink, Nandor
    Mikuska, Robert
    Szemes, Peter Tamas
    Kezi, Csaba
    Kocsis, Imre
    MATHEMATICS, 2024, 12 (20)
  • [22] Linear Motor Motion Control using Fractional Order Sliding Mode Controller with Friction Compensation
    Ma, Zhiqiang
    Sun, Guanghui
    Cheng, Zhihao
    Li, Zhengkai
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 3610 - 3614
  • [23] Extended State Observer Based Sliding Mode Control for Mechanical Servo System with Friction Compensation
    Li, Chenhang
    Chen, Qiang
    PROCEEDINGS OF THE 2015 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL 1, 2016, 359 : 105 - 114
  • [24] Adaptive Sliding Mode Fault Compensation for Sensor Faults of Variable Structure Hypersonic Vehicle
    Hu, Kai-Yu
    Yang, Chunxia
    Sun, Wenjing
    SENSORS, 2022, 22 (04)
  • [25] Adaptive friction compensation method for permanent magnet synchronous motor based on unidirectional sliding mode control
    Fang S.-P.
    Hu C.-H.
    Hu X.-X.
    Li H.-Z.
    2016, Editorial Department of Journal of Chinese Inertial Technology (24): : 224 - 228
  • [26] Sliding-Mode Tracking Control With DNLRX Model-Based Friction Compensation for the Precision Stage
    Shen, Jing-Chung
    Lu, Qun-Zhong
    Wu, Chia-Hung
    Jywe, Wen-Yuh
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2014, 19 (02) : 788 - 797
  • [27] Neural network-based adaptive funnel sliding mode control for servo mechanisms with friction compensation
    Wang, Shubo
    Chen, Qiang
    Ren, Xuemei
    Yu, Haisheng
    NEUROCOMPUTING, 2020, 377 : 16 - 26
  • [28] Sliding mode control with double boundary layer for robust compensation of payload mass and friction in linear motors
    Cupertino, Francesco
    Naso, David
    Mininno, Ernesto
    Turchiano, Biagio
    2008 IEEE INDUSTRY APPLICATIONS SOCIETY ANNUAL MEETING, VOLS 1-5, 2008, : 965 - 972
  • [29] Combined Design of Adaptive Sliding Mode Control and Disturbance Observer with Friction Compensation for a Feed Drive System
    Farrage, Abdallah
    Uchiyama, Naoki
    2018 26TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2018, : 753 - 758
  • [30] Extended State Observer-Based Sliding Mode Control of an Omnidirectional Mobile Robot With Friction Compensation
    Ren, Chao
    Li, Xiaohan
    Yang, Xuebo
    Ma, Shugen
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2019, 66 (12) : 9480 - 9489
12345