Resumen
The haptic system has two key performance issues: stability and transparency. A haptic interface controller (HIC) is designed to address these issues. Addressing these issues becomes a complex problem as both are complementary to each other. Here, when transparency of the system is increased, its stability degrades and vice-versa. To overcome this problem, intelligent optimized solutions are used in this paper to design a HIC controller for the haptic system. SVM and NN techniques have been employed to identify the performance of the controller, ensuring stability and transparency both. The disadvantages of NN in terms of the number of neurons and hidden layers are overcome by SVM. Further, the performance of SVM is highly dependent upon the selection of free parameters. So, further, a modified PSO technique is employed for the optimal selection of these parameters to enhance the performance of SVM. Hence, this novel proposed hybrid technique of m-PSO optimized SVM is applied for the optimal design of the HIC to find out an optimal solution between trade-off the transparency and stability of the haptic device simultaneously. To appreciate the efficacy of the proposed technique, the result obtained with this is compared with HIC design using neural network and conventional ZN method also. This designed controller ensures stability as well as transparency, even under the presence of uncertainty, delay, and quantization error.