Abstract
This study addresses the adaptive fuzzy control of redundant robotic systems for developing a new approach to workspace mapping in teleoperation. In robot teleoperation, workspace mapping is applied to accomplish various tasks involving both large reachability and accurate control. However, discontinuous trajectories in teleoperation because of mode change of the master device and undesired inputs during user operation make it difficult for the slave robotic system to follow the trajectories of the master device. Therefore, in this study, a new approach to workspace mapping in teleoperation and the application of an adaptive fuzzy controller for tracking the desired trajectory are proposed. The results of simulations and experiments conducted in this study demonstrate that the proposed workspace mapping approach based on an adaptive fuzzy controller effectively improved system performance in terms of tracking for desired trajectories in robot teleoperation.
| Original language | English |
|---|---|
| Pages (from-to) | 2171-2178 |
| Number of pages | 8 |
| Journal | Journal of Mechanical Science and Technology |
| Volume | 34 |
| Issue number | 5 |
| DOIs | |
| State | Published - 1 May 2020 |
Keywords
- Fuzzy-PID
- Master-slave system
- Teleoperation
- Workspace mapping