Nonlinear Disturbance Compensation for Haptic Device

Toshiyuki Ohashi; Peter Korondi; Hideki Hashimoto

doi:10.1541/ieejeiss1987.120.8-9_1188

ハプティックデバイスのための非線形外乱の補償

大橋俊之, Peter Korondi, 橋本秀紀

著者情報

キーワード: ハプティック, 非線形外乱, スライディングモード, オブザーバ, モーションコントロール

ジャーナルフリー

2000 年 120 巻 8-9 号 p. 1188-1194

DOI https://doi.org/10.1541/ieejeiss1987.120.8-9_1188

詳細

発行日: 2000/08/01 受付日: 1999/07/23 J-STAGE公開日: 2008/12/19 受理日: - 早期公開日: - 改訂日: -
訂正情報
訂正日: 2008/12/19 訂正理由: - 訂正箇所: 引用文献情報訂正内容: Wrong : (1) Thomas H. Massie, J. Kenneth Salisburg: ⌈The Phantom Haptic Interface: A Device for Probing Virtual Objects⌋, Proceedings of ASME International Mechanical Engineering Congress and Exhibition, Chicago, Vol. 55-1, pp. 295-302 (1994)
(2) Yasuharu Kunii, Yoshiaki Nishino, Hideki Hashimoto: _??_Development of 20 DOF Glove Type Haptic Interface Device_??_, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'97), pp.132-137 (1997)
(3) Buss Martin, Hideki Hashimoto: _??_Information and power flow during skill acquisition for the intelligent assisting system-IAS_??_, IEEE International Conference on Intelligent Robots and Systems (IROS'93), pp. 25-32 (1993)
(5) Kiyoshi Onishi, Kouhei Onishi, Miyachi Kunio: _??_Adaptive DC Servo Drive Control Taking Force Disturbance Suppression into Account_??_, IEEE Trans. Indutrial Application, vol. 24, no. 1, pp. 171-176 (1988)
(8) Janxin Xu, Hideki Hashimoto, Fumio Harashima: _??_On Design of VSS Observer for Nonlinera System_??_, Trans. on the Society of Instrument and Control Engineer, vol. 25, no. 2, pp 152-158 (1989. 2)
(9) Peter Korondi, K-K. Young, Hideki Hashimoto: _??_Discretetime Sliding Mode Based Feedback Compensation for Motion Control_??_, Proc. of the 1996 IEEE Intl. Workshop on Variable Structure System, pp. 127-131 (1996)
(10) Peter Korondi, David Young, Hideki Hashimoto: _??_Sliding Mode Based Disturbance Observer for Motion Control_??_, Proc. of IEEE Conference on Decision and Control, pp. 1926-1927 (1998)

Right : (1) Thomas H. Massie, J. Kenneth Salisburg: ⌈The Phantom Haptic Interface: A Device for Probing Virtual Objects⌋, Proceedings of ASME International Mechanical Engineering Congress and Exhibition, Chicago, Vol. 55-1, pp. 295-302 (1994)
(2) Yasuharu Kunii, Yoshiaki Nishino, Hideki Hashimoto: ⌈Development of 20 DOF Glove Type Haptic Interface Device⌋, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'97), pp.132-137 (1997)
(3) Buss Martin, Hideki Hashimoto: ⌈Information and power flow during skill acquisition for the intelligent assisting system-IAS⌋, IEEE International Conference on Intelligent Robots and Systems (IROS'93), pp. 25-32 (1993)
(5) Kiyoshi Onishi, Kouhei Onishi, Miyachi Kunio: ⌈Adaptive DC Servo Drive Control Taking Force Disturbance Suppression into Account⌋, IEEE Trans. Indutrial Application, vol. 24, no. 1, pp. 171-176 (1988)
(8) Janxin Xu, Hideki Hashimoto, Fumio Harashima: ⌈On Design of VSS Observer for Nonlinera System⌋, Trans. on the Society of Instrument and Control Engineer, vol. 25, no. 2, pp 152-158 (1989. 2)
(9) Peter Korondi, K-K. Young, Hideki Hashimoto: ⌈Discretetime Sliding Mode Based Feedback Compensation for Motion Control⌋, Proc. of the 1996 IEEE Intl. Workshop on Variable Structure System, pp. 127-131 (1996)
(10) Peter Korondi, David Young, Hideki Hashimoto: ⌈Sliding Mode Based Disturbance Observer for Motion Control⌋, Proc. of IEEE Conference on Decision and Control, pp. 1926-1927 (1998)

訂正日: 2008/12/19 訂正理由: - 訂正箇所: PDFファイル訂正内容: -

抄録

The Sensor Glove II (SG II) is a glove type haptic device. The SG II supports 20 degrees of freedom which corresponds to the total D. O. F. of the human hand. It can measure the force and the angle of each joint and give force feedback in each joint. The motors move pulleys of the device through wires in tubes. It makes unexpected disturbances and makes device control difficulties. In this paper we control the SG II with a disturbance compensation based on a sliding mode observer. The sliding mode observer is an efficient scheme for compensating nonlinear disturbance. The results of the free motion experiment show its effectiveness.

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