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

IEEE Transactions on Industrial Electronics

Volumn 51, Issue 2, 2004, Pages 491-500

  Bi, D ^a   Li, Y F ^a   Tso, S K ^a   Wang, G L ^a,b,c  

^a CITY UNIVERSITY OF HONG KONG   (Hong Kong)

^b SUN YAT SEN UNIVERSITY   (China)

^c SHANGHAI JIAO TONG UNIVERSITY   (China)

Author keywords

Friction modeling and compensation; Haptic display; Support vector machine (SVM); Two port network based controller

Indexed keywords

CONTROL SYSTEM ANALYSIS; DEGREES OF FREEDOM (MECHANICS); FRICTION; HYSTERESIS; LINEAR NETWORK ANALYSIS; MAN MACHINE SYSTEMS; MOTION COMPENSATION; UNIVERSAL JOINTS; VIRTUAL REALITY;

HAPTIC DISPLAY; LINEAR CIRCUIT THEORY; SUPPORT VECTOR MACHINE; TWO-PORT-NETWORK-BASED CONTROLLER;

HAPTIC INTERFACES;

EID: 1942487695     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2004.825277     Document Type: Article

References (20)

1. A. S. Mandayam and C. Basdogan, "Haptics in VE: Taxonomy, research status, and challenges," Comput. Graph., vol. 21, no. 4, pp. 393-404, 1997.
2. Y. F. Li and D. Bi, "A method of dynamics identification for haptic display of the operating feel in a virtual environment," IEEE/ASME Trans. Mechatron., vol. 8, pp. 476-482 Dec. 2003.
3. R. J. Adams and B. Hannaford, "Stable haptic interaction with virtual environment," IEEE Trans. Robot. Automat., vol. 15, pp. 465-474, June 1999.
4. B. E. Miller, J. E. Colgate, and R. A. Freeman, "Guaranteed stability of haptic systems with nonlinear virtual environments," IEEE Trans. Robot. Automat., vol. 16, pp. 712-719, Dec. 2000.
5. B. Hannaford and J. H. Ryu, "Time-domain passivity control of haptic interfaces," IEEE Trans. Robot. Automat., vol. 18, pp. 1-10, Feb. 2002.
6. D.-S. Kwon and K. Y. Woo, "Control of the haptic interface with friction compensation and its performance evaluation," in Proc. 2000 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2000), vol. 2, Takamatsu, Japan, 2000, pp. 955-960.
7. B. Armstrong-Helouvry, P. Dupong, and C. Canudas de wit, "A survey of models, analysis tools, and compensation methods for the control of machines with friction," Automatica, vol. 30, pp. 1083-1183, 1994.
8. J. Swevers, F. Al-Bender, C. G. Ganseman, and T. Prajogo, "An integrated friction model structure with improved preshaping behavior for accurate friction compensation," IEEE Trans. Automat. Contr., vol. 45, no. 4, pp. 675-686, 2000.
9. P. Dupont, V. Hayward, B. Armstrong, and F. Altpeter, "Single state elastroplastic friction models," IEEE Transaction on Automatic Control, vol. 47, pp. 787-792, May 2002.
10. C. Canudas de wit, P. Noel, A. Aubin, and B. Brogliato, "Adaptive friction compensation in robot manipulators," Int. J. Robot. Res., vol. 10, no. 3, pp. 189-199, 1991.
11. Hu. Du and S. S. Nair, "Low velocity friction compensation," IEEE Contr. Syst. Mag., vol. 18, pp. 61-69, July 1998.
12. B. Armstrong-Helouvry, Control of Machines With Friction. Boston MA: Kluwer, 1991.
13. V. Vapnik, Statistical Learning Theory. New York: Wiley, 1998.
14. T. Evgeniou, M. Pontil, and T. Poggio, "Regularization networks and support vector machines," Adv. Comput. Math., vol. 13, pp. 1-50, 2000.
15. B. J. de Kruif and T. J. A. d. Vries, "On using a support vector machine in learning feed-forward control," in Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, Como, Italy, 2001, pp. 272-277.
16. F. Girosi, M. Jones, and T. Poggio, "Regularization theory and neural networks architectures," Neural Comput., vol. 7, pp. 219-269, 1995.
17. C. K. I. Williams and C. E. Rasmussen, "Gaussian processes for regression," in Advances in Neural Information Processing Systems, D. S. Touretzky, M. C. Mozer, and M. E. Hasselmo, Eds. Cambridge, MA: MIT Press, 1996, pp. 514-520.
18. D. Cox and F. O'Sullivan, "Asymptotic analysis of penalized likelihood and related estimators," Ann. Stat., vol. 18, pp. 1676-1695, 1990.
19. S. J. Lederman and R. L. Klatzky, "Sensing and displaying spatially distributed fingertip forces in haptic interface for teleoperator and virtual environment systems," Presence, vol. 8, pp. 86-103, 1999.
20. K. Y. Woo, B. D. Jin, and D. S. Kwon, "A 6 DOF force-reflecting hand controller using the fivebar parallel mechanism," in Proc. IEEE Int. Conf. Robotics and Automation, San Diego, CA, 1994, pp. 3205-3210.