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.
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