Temperature Compensation for a Six-Axis Force/Torque Sensor Based on the Particle Swarm Optimization Least Square Support Vector Machine for Space Manipulator
- 1 October 2015
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Sensors Journal
- Vol. 16 (3), 798-805
- https://doi.org/10.1109/jsen.2015.2485258
Abstract
The output of a six-axis force/torque sensor (F/T sensor) not only varies with force or torque but also is affected by ambient temperature. In order to check the effects of temperature drift on the measurement precision of the sensor, this paper carried out experiments to obtain the quantitative results without loading the force and torque. In detail, three methods, including the least square method, radial basis function neural network, and least square support vector machine (LSSVM), were used to achieve the temperature compensation, showing that the LSSVM has the obvious advantage. However, for obtaining the optimization parameters of the LSSVM model, the particle swarm optimization (PSO) was adopted. Experimental results imply that the F/T sensor compensated by the PSO LSSVM has higher measurement precision and temperature stability.Funding Information
- National Basic Research Development Program (973-2013CB733103)
- National High Technology Research and Development Program of China (State 863 Project) (2011AA7045041)
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