Friction modeling and compensation for haptic display based on support vector machine
Bi, D.
Li, Y.F.
Tso, S.K.
Wang, G.L.
Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: April 2004
Volume: 51,
Issue: 2
On page(s): 491- 500
ISSN: 0278-0046
INSPEC Accession Number: 7964605
Digital Object Identifier: 10.1109/TIE.2004.825277
Current Version Published: 2004-04-05
Abstract
As the presence of friction in a haptic display device seriously affects its performance, proper compensation of the frictional effects in such a device is of practical importance for advanced virtual reality applications where haptic display plays a critical role. This paper addresses the issue of friction modeling and compensation for haptic control system designs. A new method based on the Support Vector Machine (SVM) is developed in a controller design based on a two-port network to achieve accurate haptic display. The approximation model of friction is established offline through SVM learning and is used for online feed forward friction compensation. The advantages of this novel method are demonstrated through the experiments performed.
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