Friction modeling and compensation for haptic display based on support vector machine

被引：40

作者：

Bi, D ^{[1
]}

Li, YF ^{[1
]}

Tso, SK ^{[1
]}

Wang, GL ^{[1
]}

机构：

[1] City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2004年 / 51卷 / 02期

关键词：

friction modeling and compensation; haptic display; Support Vector Machine (SVM); two-port-network-based controller;

D O I：

10.1109/TIE.2004.825277

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：491 / 500

页数：10

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