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TECHNICAL PAPERS

Sliding Mode Friction Compensation for a 20 DOF Sensor Glove

[+] Author and Article Information
Péter Korondi, Péter T. Szemes, Hideki Hasimoto

Institute of Industrial Science, University of Tokyo, 7-22-1, Roppongi, Minato, Tokyo 106, Japan

J. Dyn. Sys., Meas., Control 122(4), 611-615 (Mar 01, 2000) (5 pages) doi:10.1115/1.1317232 History: Received March 01, 2000
Copyright © 2000 by ASME
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References

Thomas, H., Massie, J., and Salisburg, K., 1994, “The PhantomHaptic Interface: A Device for Probing Virtual Objects,” Proceedings of the 1994 ASME International Mechanical Engineering Congress and Exhibition, Chicago, Vol. 55-1, pp. 295–302.
Ohashi, T., Szemes, P. T., Korondi, P., and Hashimoto, H., 1999, “Nonlinear Disturbance Compensation for Haptic Device” Proceedings of the IEEE International Symposium on Industrial Electronics ISIE’99, Blad, Slovenia, pp. 304–309.
Hori,  Y., 1993, “High Performance Control of Robot Manipulator Without Using Inverse Dynamics,” IFAC Control Eng. Prac.1, No. 3, 529–538.
Ohnishi, K., and Murakami, T., 1989, “Application of Advanced Control Techniques in Electrical Drives,” Proc. of the IEEE Intl. Workshop MCED’89, Trieste, Italy.
Young, K. D., 1995, Manifold Based Feedback Design, Advances in Control and its Applications, Lecture Notes in Control and Information Sciences, Springer-Verlag London, Tokyo, New York.
Szabó, D., Szemes, P., Korondi, P., and Hasimoto, H., 1999, “Disturbance Observers Based Direct and Inverted Model,” CD-ROM 8th European Conference on Power Electronics and Application (EPE’99), EPFL Lausanne, Switzerland.
Tesfaye, A., Lee, H. S., and Tomizuka, M., 1997, “Discrete-Time Design of a Disturbance Observer for Robust Motion Control Systems,” Proc. of the 2nd Asian Control Conference, Seoul, Vol. 1, pp. 261–264.
Drazenovic,  B., 1969, “The Invariance Condition in Variable Structure Systems,” Automatica 5, No. 3, pp. 287–295.
Utkin, V. I., 1992, Sliding Modes in Control and Optimization, Springer-Verlag London, Tokyo, New York.
Bogosyan, O. S., Gokasan, M., and Sabanovic, A., 1999, “A Sliding Mode Based Disturbance Observer for Motion Control Systems,” VSS’99 Conference, Florida.
Korondi, P., Young, K-K. D., and Hashimoto, H., 1996, “Discrete-Time Sliding Mode Based Feedback Compensation for Motion Control,” Proc. of the 1996 IEEE Intl. Workshop on Variable Structure Systems, Tokyo, Japan.
Sabanovic, A., Sabanovic, N., Jezernik, K., and Wada, K., 1994, “Chattering Free Sliding Modes,” The Third Workshop on Variable Structure Systems and Lyaponov Design, Napoly, Italy.

Figures

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The configuration of glove type haptic device
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(a) Inverse model based disturbance compensation; (b) direct model based disturbance compensation
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Sliding mode disturbance compensation
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Discrete-time chattering phenomenon
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Structure of the sensor glove
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Position controller scheme
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PD type controller with and without disturbance observer
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The control scheme for master device operation
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Experimental results of one joint of glove type device; (left) PID, (right) PID with disturbance observer, angle of motor, torque of human joint, output voltage, and estimated disturbance
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Geometry of virtual wall experiment
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Depth of fingertip, torques, and angles of joints
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Visual feedback of the operator

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