Modeling for Robot High Precision Grinding Based on SVM
YANG Yang1, SONG Yixu1, LIANG Wei1, WANG Jiaxin1, QI Lizhe2
1. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China; 2. Inter Smart Robotic Systems Co., Ltd, Langfang 065001, China
杨扬, 宋亦旭, 梁伟, 王家廞, 齐立哲. 基于SVM的机器人高精度磨削建模[J]. 机器人, 2010, 32(2): 278-282..
YANG Yang, SONG Yixu, LIANG Wei, WANG Jiaxin, QI Lizhe. Modeling for Robot High Precision Grinding Based on SVM. ROBOT, 2010, 32(2): 278-282..
Abstract：To improve the removal control for robot grinding process, we propose a modeling method based on SVM (support vector machine) regression. By analyzing a group of measurable variables relevant to grinding removal, such as robot's speed, contact force and curvature of the workpiece's surface, a regression model is built using machine learning method to predict the grinding removal. In this way, the analysis on a series of complicated dynamic variables could be avoided. The experimental results show that this method could achieve good performance. The prediction accuracy of the model reaches higher than 90%, which basically meets the demand of practical grinding.
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