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Adaptive Four-Channel Neuro-Fuzzy Control of a Master-Slave Robot : Controllo adattativo a quatro canali neuro-fuzzy di un robot master-slave, in: International Journal of Advanced Robotic Systems
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Autore Po-Ngaen, Watcharin
Pubblicato  InTech Open Access Publisher, 2013
edizione  
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Abstract 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, fourchannel
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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Articoli a Rivista
2000 ed oltre
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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Documents: International Journal of Advanced Robotic Systems
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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