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Vol: 50(64) No: 1 / March 2005 Sliding Mode Based Model Reference Control for a Micromanipulator Peter Korondi Integrated Intelligent Systems Laboratory, Budapest University of Technology and Economics, Budapest, Hungary, phone: +36-1-463 6511, e-mail: korondi@elektro.get.bme.hu Keywords: micro-manipulation, sliding mode observer, friction compensation. Abstract This paper presents a 6 DOF tele-micromanipulation system, which enables the human operators to operate micro tasks, such as assembly or manufacturing in the micrometer word with force feedback. The paper focuses on the haptic interface with force feedback. The master and slave devices are connected via internet. The mechanism applied as a human interface device has a reasonable immanent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the feedbacked force from the manipulated environment. The main contribution of this paper is the comparison of the experimental results of a model reference adaptive and a direct model based chattering free sliding mode friction compensator for a human interface device. References |