a robust static decoupling algorithm for 3-axis force sensors based on coupling error model and ε-svr一个健壮的静态解耦算法硬件传感器基于耦合误差模型和ε-svr力量.pdfVIP

Sensors 2012, 12, 14537-14555; doi:10.3390/s121114537 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article A Robust Static Decoupling Algorithm for 3-Axis Force Sensors Based on Coupling Error Model and -SVR Junqing Ma , Aiguo Song and Jing Xiao Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; E-Mail: mjqseu@ IMI Lab, Department of Computer Science, The University of North Carolina at Charlotte, Charlotte, NC 28223, USA; E-Mail: xiao@ Author to whom correspondence should be addressed; E-Mail: a.g.song@; Tel.: +86-25-8379-3293; Fax: +86-25-8379-2813. Received: 14 August 2012; in revised form: 22 October 2012 / Accepted: 22 October 2012 / Published: 29 October 2012 Abstract: Coupling errors are major threats to the accuracy of 3-axis force sensors. Design of decoupling algorithms is a challenging topic due to the uncertainty of coupling errors. The conventional nonlinear decoupling algorithms by a standard Neural Network (NN) are sometimes unstable due to overfitting. In order to avoid overfitting and minimize the negative effect of random noises and gross errors in calibration data, we propose a novel nonlinear static decoupling algorithm based on the establishment of a coupling error model. Instead of regarding the whole system as a black box in conventional algorithm, the coupling error model is designed by the principle of coupling errors, in which the nonlinear relationships b