Adaptive Force/Position NN Control of Asymmetric Teleopertion System Based on Fuzzy CMAC

Abstract

Metallurgical industrial robots play an increasingly indispensable role in modern industries. Today, with a significant increase in industrial automation, people continually demand higher performance from metallurgical industrial robots. The application of teleoperated system in the metallurgical field is becoming increasingly widespread. A teleoperation system consists of a master robot and a slave robot. Stability, tracking, and transparency are the performance requirements for teleoperation systems. Asymmetric teleoperation systems are more widely used than isomorphism teleoperation systems. This study chose an asymmetric teleoperation system in which the master robot is a novel form of 6-degree of freedom mechanism consists of series and parallel. The slave robot is Baxter robot. An Adaptive CAMC intelligent control algorithm was used for asymmetric teleoperation system force/position control. The experiment results showd that the Adaptive Fuzzy CAMC control algorithm outperforms Adaptive Fuzzy & PID control algorithm in terms of control performance for Asymmetric teleoperation systems. The experiment also demonstrates that the master hand satisfies the asymmetric teleoperation system..