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RETRACTED ARTICLE: Estimation of contact forces of underactuated robotic finger using soft computing methods

Author

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  • Srđan Jović

    (University of Priština)

  • Nebojša Arsić

    (University of Priština)

  • Ljubomir M. Marić

    (University of Priština)

  • Dalibor Petković

    (University of Niš, Pedagogical Faculty in Vranje)

Abstract

Underactuated robotic finger could be used as adaptive mechanism with simple control algorithm. In this study the main aim was to estimate the robotic finger contact forces by soft computing methods. Soft computing approach was applied in order to overcome high nonlinearity in the finger behavior. Kinetostatic analysis was performed in order to extract the input/output data samples for the soft computing methods. The main goal was to estimate the contact forces based on contact locations with the objects. Seven soft computing methods were applied: genetic programming, support vector machine, support vector machine with firefly algorithm, artificial neural network, support vector machine with wavelet transfer function), extreme learning machine and extreme learning machine with wavelet transfer function. The reliability of these computational models was analyzed based on simulation results. Extreme learning machine with wavelet transfer function shown the best accuracy for the contact forces estimation.

Suggested Citation

  • Srđan Jović & Nebojša Arsić & Ljubomir M. Marić & Dalibor Petković, 2019. "RETRACTED ARTICLE: Estimation of contact forces of underactuated robotic finger using soft computing methods," Journal of Intelligent Manufacturing, Springer, vol. 30(2), pages 891-903, February.
    • Handle: RePEc:spr:joinma:v:30:y:2019:i:2:d:10.1007_s10845-016-1292-0
    DOI: 10.1007/s10845-016-1292-0
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    References listed on IDEAS

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    1. Zhang, Ancai & Lai, Xuzhi & Wu, Min & She, Jinhua, 2015. "Stabilization of underactuated two-link gymnast robot by using trajectory tracking strategy," Applied Mathematics and Computation, Elsevier, vol. 253(C), pages 193-204.
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