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

页码：611 / 615

页数：5

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