Non-Linear Regression Method for Instability Problems in Haptic Rendering System

Abstract

This paper addresses instability problems in 6-DoFs haptic rendering system due do the virtual stiffness technology in haptic device by using non-linear polynomial regression analysis method for haptic feedback value. The method is based on the locally optimized generalized penetration computation algorithm which computes the minimum translational and rotational motion to separate two overlapping objects. The essence of penalty-based haptic rendering method is the stability problem which is the prospect in virtual manipulation and physical experiment simulation. The algorithm which employs the virtual coupling method in order to optimize the haptic feedback value in haptic rendering system. Combining with the non-linear regression method, we get a well-distributed output and stable force feedback. The constructed rendering algorithm can process the complexity polygon-soup models and make no assumption about the underlying geometry topology. The experiment result shows the non-linear regression analysis method can make the haptic system stable and get realistic force feedback.