Paper Info
Title
Improvement of Response Isotropy of Haptic Interface for Tele-Micromanipulation Systems.
Abstract
In this paper, control schemes for master haptic interface is mainly discussed. We have been proposed the tele-micromanipulation systems, which enables human operators to operate micro tasks, such as assembly or manufacturing, without feeling stress. The paper focuses on the haptic interface, which gives the operators the feeling of presence. The mechanism applied in the human interface device has a reasonable immanent friction usually.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 direct model based chattering free sliding mode friction estimator and compensator for a human interface device. Experimental results are presented.
Year
DOI
Venue
2002
10.1109/ROBOT.2002.1014822
ICRA
Keywords
Field
DocType
automatic control,feedback,transmission electron microscopy,friction,human interface,observer,automation,telerobotics,assembly,haptic interface
Isotropy,Simulation,Control theory,Automatic control,Automation,Control engineering,Operator (computer programming),Engineering,Observer (quantum physics),Telerobotics,Haptic technology,Human interface device
Conference
Volume
Issue
Citations 
2
1
0
PageRank 
References 
Authors
0.34
2
4
Name
Order
Citations
PageRank
Noriaki Ando127433.60
Peter Tamas Szemes2124.44
Peter Korondi37115.50
Hideki Hashimoto46810.43