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

D. Bi; Y. F. Li; S. K. Tso; G. L. Wang

doi:10.1109/TIE.2004.825277

Author(s)

D. Bi
Y. F. Li
S. K. Tso
G. L. Wang

Detail(s)

Original language	English
Pages (from-to)	491-500
Journal / Publication	IEEE Transactions on Industrial Electronics
Volume	51
Issue number	2
Publication status	Published - Apr 2004

Link(s)

DOI	DOI https://doi.org/10.1109/TIE.2004.825277 Final Published version
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Link to Scopus	https://www.scopus.com/record/display.uri?eid=2-s2.0-1942487695&origin=recordpage
Permanent Link	https://scholars.cityu.edu.hk/en/publications/publication(df994bab-e741-4894-9b41-b321727b0ae8).html

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.

Research Area(s)

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

Citation Format(s)

[ RIS ] [ BibTeX ]

Friction modeling and compensation for haptic display based on support vector machine. / Bi, D.; Li, Y. F.; Tso, S. K.; Wang, G. L.

In: IEEE Transactions on Industrial Electronics, Vol. 51, No. 2, 04.2004, p. 491-500.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review

Bi, D, Li, YF, Tso, SK & Wang, GL 2004, 'Friction modeling and compensation for haptic display based on support vector machine', IEEE Transactions on Industrial Electronics, vol. 51, no. 2, pp. 491-500. https://doi.org/10.1109/TIE.2004.825277

Bi, D., Li, Y. F., Tso, S. K., & Wang, G. L. (2004). Friction modeling and compensation for haptic display based on support vector machine. IEEE Transactions on Industrial Electronics, 51(2), 491-500. https://doi.org/10.1109/TIE.2004.825277

Bi D, Li YF, Tso SK, Wang GL. Friction modeling and compensation for haptic display based on support vector machine. IEEE Transactions on Industrial Electronics. 2004 Apr;51(2):491-500. https://doi.org/10.1109/TIE.2004.825277

Bi, D. ; Li, Y. F. ; Tso, S. K. ; Wang, G. L. / Friction modeling and compensation for haptic display based on support vector machine. In: IEEE Transactions on Industrial Electronics. 2004 ; Vol. 51, No. 2. pp. 491-500.