Open AccessAdaptive Four-Channel Neuro-Fuzzy Control of a Master-Slave Robot
Author(s) -
Watcharin Po-ngaen
Publication year - 2013
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/55591
Subject(s) - computer science , robustness (evolution) , control theory (sociology) , channel (broadcasting) , robot , fuzzy control system , fuzzy logic , master/slave , scheme (mathematics) , task (project management) , artificial intelligence , control engineering , simulation , control (management) , engineering , mathematics , telecommunications , biochemistry , chemistry , gene , mathematical analysis , systems engineering , operating system
In bilateral control of tele-manipulation based on a conventional approach, there are deficiencies in stability robustness and manoeuvrability against variations in the dynamics of the master input device and the task environment. In this study, an adaptive four-channel neuro-fuzzy bilateral control scheme is proposed. To evaluate whether the proposed algorithm is a suitable technique for improving the robustness and manoeuvrability of tele-robot implementation, four-channel neuro-fuzzy and classical bilateral control frameworks have been investigated in a simulation experiment. Distinct bilateral control schemes in the form of four-channel intelligent control and the classic form of position–force and position -position have been implemented and compared using a one degree of freedom (DOF) master-slave system. The experimental results show that the application of a four-channel neuro-fuzzy control strategy effectively improves the overall performance
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