Friction modeling and compensation for haptic display based on support vector machine
Identifieur interne : 007036 ( Main/Merge ); précédent : 007035; suivant : 007037Friction modeling and compensation for haptic display based on support vector machine
Auteurs : D. Bi [Hong Kong] ; Y. F. Li ; S. K. Tso ; G. L. WangSource :
- IEEE Transactions on Industrial Electronics [ 0278-0046 ] ; 2004.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
- KwdEn :
- Application, Control system analysis, Degrees of freedom (mechanics), Experiments, Friction, Haptic display, Haptic interfaces, Hysteresis, Linear circuit theory, Linear network analysis, Man machine systems, Motion compensation, Support vector machine, Theory, Two-port-network-based controller, Universal joints, Virtual reality.
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 baptic 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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Pascal:04-0199065Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Friction modeling and compensation for haptic display based on support vector machine</title><author><name sortKey="Bi, D" sort="Bi, D" uniqKey="Bi D" first="D." last="Bi">D. Bi</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Dept. of Mfg. Eng. and Eng. Mgmt. City University of Hong Kong</s1><s2>Kowloon</s2><s3>HKG</s3><sZ>1 aut.</sZ></inist:fA14><country>Hong Kong</country><wicri:noRegion>Dept. of Mfg. Eng. and Eng. Mgmt. City University of Hong Kong</wicri:noRegion></affiliation></author><author><name sortKey="Li, Y F" sort="Li, Y F" uniqKey="Li Y" first="Y. F." last="Li">Y. F. Li</name></author><author><name sortKey="Tso, S K" sort="Tso, S K" uniqKey="Tso S" first="S. K." last="Tso">S. K. Tso</name></author><author><name sortKey="Wang, G L" sort="Wang, G L" uniqKey="Wang G" first="G. L." last="Wang">G. L. Wang</name></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">04-0199065</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 04-0199065 EI</idno><idno type="RBID">Pascal:04-0199065</idno><idno type="wicri:Area/PascalFrancis/Corpus">001049</idno><idno type="wicri:Area/PascalFrancis/Curation">000460</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000D14</idno><idno type="wicri:doubleKey">0278-0046:2004:Bi D:friction:modeling:and</idno><idno type="wicri:Area/Main/Merge">007036</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Friction modeling and compensation for haptic display based on support vector machine</title><author><name sortKey="Bi, D" sort="Bi, D" uniqKey="Bi D" first="D." last="Bi">D. Bi</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Dept. of Mfg. Eng. and Eng. Mgmt. City University of Hong Kong</s1><s2>Kowloon</s2><s3>HKG</s3><sZ>1 aut.</sZ></inist:fA14><country>Hong Kong</country><wicri:noRegion>Dept. of Mfg. Eng. and Eng. Mgmt. City University of Hong Kong</wicri:noRegion></affiliation></author><author><name sortKey="Li, Y F" sort="Li, Y F" uniqKey="Li Y" first="Y. F." last="Li">Y. F. Li</name></author><author><name sortKey="Tso, S K" sort="Tso, S K" uniqKey="Tso S" first="S. K." last="Tso">S. K. Tso</name></author><author><name sortKey="Wang, G L" sort="Wang, G L" uniqKey="Wang G" first="G. L." last="Wang">G. L. Wang</name></author></analytic><series><title level="j" type="main">IEEE Transactions on Industrial Electronics</title><title level="j" type="abbreviated">IEEE Trans Ind Electron</title><idno type="ISSN">0278-0046</idno><imprint><date when="2004">2004</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE Transactions on Industrial Electronics</title><title level="j" type="abbreviated">IEEE Trans Ind Electron</title><idno type="ISSN">0278-0046</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Application</term><term>Control system analysis</term><term>Degrees of freedom (mechanics)</term><term>Experiments</term><term>Friction</term><term>Haptic display</term><term>Haptic interfaces</term><term>Hysteresis</term><term>Linear circuit theory</term><term>Linear network analysis</term><term>Man machine systems</term><term>Motion compensation</term><term>Support vector machine</term><term>Theory</term><term>Two-port-network-based controller</term><term>Universal joints</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Application</term><term>Système homme machine</term><term>Réalité virtuelle</term><term>Analyse système commande</term><term>Analyse réseau linéaire</term><term>Compensation mouvement</term><term>Degré liberté</term><term>Frottement</term><term>Joint universel</term><term>Hystérésis</term><term>Interface haptique</term><term>Théorie</term><term>Expérience</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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 baptic 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.</div></front></TEI><affiliations><list><country><li>Hong Kong</li></country></list><tree><noCountry><name sortKey="Li, Y F" sort="Li, Y F" uniqKey="Li Y" first="Y. F." last="Li">Y. F. Li</name><name sortKey="Tso, S K" sort="Tso, S K" uniqKey="Tso S" first="S. K." last="Tso">S. K. Tso</name><name sortKey="Wang, G L" sort="Wang, G L" uniqKey="Wang G" first="G. L." last="Wang">G. L. Wang</name></noCountry><country name="Hong Kong"><noRegion><name sortKey="Bi, D" sort="Bi, D" uniqKey="Bi D" first="D." last="Bi">D. Bi</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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