Adaptive Four-Channel Neuro-Fuzzy Control of a Master-Slave Robot
نویسنده
چکیده
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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