Sensors, Vol. 19, Pages 4259: Hysteresis Compensation in Force/Torque Sensors Using Time Series Information
Sensors, Vol. 19, Pages 4259: Hysteresis Compensation in Force/Torque Sensors Using Time Series Information
Sensors doi: 10.3390/s19194259
Authors:
Ryuichiro Koike
Sho Sakaino
Toshiaki Tsuji
The purpose of this study is to compensate for the hysteresis in a six-axis force sensor using signal processing, thereby achieving high-precision force sensing. Although mathematical models of hysteresis exist, many of these are one-axis models and the modeling is difficult if they are expanded to multiple axes. Therefore, this study attempts to resolve this problem through machine learning. Since hysteresis is dependent on the previous history, this study investigates the effect of using time series information in machine learning. Experimental results indicate that the performance is improved by including time series information in the linear regression process generally utilized to calibrate six-axis force sensors.
Source: Sensors - Category: Biotechnology Authors: Ryuichiro Koike Sho Sakaino Toshiaki Tsuji Tags: Article Source Type: research