Forecasting of Underactuated Robotic Finger Contact Forces by Support Vector Regression Methodology

Abstract

Robotic manipulators have very strong nonlinearities. Analytical modeling of the robotic gripper is very challenging task. Therefore in this paper soft computing methods is applied in order to estimate contact forces of the robotic finger. Support vector regression (SVR) with radial and polynomial basis functions and the soft computing methods were used. The primary purpose of this study are in clarification of kinetostatic examining of a new finger mechanism utilizing pseudo-unbending body model. The results show the better prediction accuracy with SVR methodology with radial basis function (RBF).