Modeling tooling interactions of teleoperation using grey system theory

Online modeling or estimating tooling interaction of teleoperation is complicated and difficult. Classic analytical and numerical modeling methods are not suitable for real-time modeling. In this paper, a grey prediction model GM(1,1) was developed for predicting tooling interactions of teleoperation since grey modeling has the following characteristics: (i) small data set, (ii) less computation, (iii) online real-time modeling, and (iv) any kind of data distribution. The developed GM(1,1) was successfully applied to model bandsawing interaction forces.