Design of Fuzzy Controller For Bilateral Telemanipulator
Journal Title: International Journal of Research in Computer and Communication Technology - Year 2013, Vol 2, Issue 11
Abstract
The objective of a telerobotic system is to connect humans and robots in order to reproduce operator action at a distance. The telerobotic system consists of a ‘master’ robot, operated by a human arm, and a kinematically identical ‘slave’ robot, located at a remote site. When the operator moves the handler of the ‘master’ back and forth, the remote ‘slave’ mimics the motion in a constrained or unconstrained environment. When a robot is operated remotely by use of a teleoperator, it is desirable to communicate contact force information from the Slave to the master, in order to kinematically couple the operator to the environment and increase the sense of telepresence. A control scheme is derived for a ‘master-slave’ telerobotic dynamic system with haptic behaviour. The paper discusses about the design of a Position Force Architecture in which the master receives a force command from the slave and the slave receives a position reference from the master. The Position-Force Architecture is designed and implemented using a PID controller. As the dynamics of the human operator and the environment varies, auto tuning of the PID controller has to be performed. In order to overcome the auto tuning problem a FUZZY LOGIC CONTROLLER has been developed and implemented for position control.
Authors and Affiliations
Ch. V. Rajkumar, Srihari dattabhimaraju. P, Naresh. Mallireddy
Keywords
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