Force/PositionControl of Heterogeneous Teleoperation System Based on Adaptive Fuzzy& CMAC NN

2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM) Pub Date : 2022-11-18 DOI:10.1109/WCMEIM56910.2022.10021486

Zelin Sun

{"title":"Force/PositionControl of Heterogeneous Teleoperation System Based on Adaptive Fuzzy& CMAC NN","authors":"Zelin Sun","doi":"10.1109/WCMEIM56910.2022.10021486","DOIUrl":null,"url":null,"abstract":"This study is mainly about the designation of a new type of Haptic Device and a new control algorithm on asymmetric teleoperation robots system. Aiming at the problems of tracking and transparency of the asymmetric teleoperation system, An new Adaptive Fuzzy & CMAC NN control algorithm was proposed. The Haptic Device was chosen as master-Robot of the system. Baxter dual-arm robot was chosen as slave-Robot of the system. The simulation experiment of Heterogeneous Teleoperation System Based on Adaptive Fuzzy & CMAC NN was carried out. The experiment results showed that the maximum values of displacement tracking errors in three directions x,y,z are 0.02m, 0.01m, 0.01m respectively. Compared with Adaptive Fuzzy control, the performance of the new control algorithm is improved. The force feedback experiment on real asymmetric teleoperation robot system was carried out. The results showed that the force feedback wave is consistent with the actual situation and showed that the Adaptive Fuzzy & CMAC NN control algorithm proposed is superior to Adaptive Fuzzy control algorithm. Therefore, the new algorithm perfectly satisfied the system. The experiment parameters also demonstrates the Haptic Device satisfies the design requirements of the asymmetric teleoperation robots system and the industry standards.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WCMEIM56910.2022.10021486","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

Abstract

This study is mainly about the designation of a new type of Haptic Device and a new control algorithm on asymmetric teleoperation robots system. Aiming at the problems of tracking and transparency of the asymmetric teleoperation system, An new Adaptive Fuzzy & CMAC NN control algorithm was proposed. The Haptic Device was chosen as master-Robot of the system. Baxter dual-arm robot was chosen as slave-Robot of the system. The simulation experiment of Heterogeneous Teleoperation System Based on Adaptive Fuzzy & CMAC NN was carried out. The experiment results showed that the maximum values of displacement tracking errors in three directions x,y,z are 0.02m, 0.01m, 0.01m respectively. Compared with Adaptive Fuzzy control, the performance of the new control algorithm is improved. The force feedback experiment on real asymmetric teleoperation robot system was carried out. The results showed that the force feedback wave is consistent with the actual situation and showed that the Adaptive Fuzzy & CMAC NN control algorithm proposed is superior to Adaptive Fuzzy control algorithm. Therefore, the new algorithm perfectly satisfied the system. The experiment parameters also demonstrates the Haptic Device satisfies the design requirements of the asymmetric teleoperation robots system and the industry standards.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

基于自适应模糊和CMAC神经网络的异构遥操作系统力/位控制

本文主要研究非对称遥操作机器人系统的一种新型触觉装置的设计和一种新的控制算法。针对非对称遥操作系统的跟踪性和透明性问题，提出了一种新的自适应模糊- CMAC神经网络控制算法。选择触觉装置作为系统的主机器人。选择Baxter双臂机器人作为系统的从机器人。对基于自适应模糊和CMAC神经网络的异构遥操作系统进行了仿真实验。实验结果表明，x、y、z三个方向的位移跟踪误差最大值分别为0.02m、0.01m、0.01m。与自适应模糊控制相比，该控制算法的性能得到了提高。对实际非对称遥操作机器人系统进行了力反馈实验。结果表明，力反馈波与实际情况一致，表明所提出的自适应模糊和CMAC神经网络控制算法优于自适应模糊控制算法。因此，新算法完全满足了系统的要求。实验参数也证明了该触觉装置满足非对称遥操作机器人系统的设计要求和行业标准。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)

自引率

0.00%

发文量