Affiliation:
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, China
3. University of Chinese Academy of Sciences, China
Abstract
An adaptive speed coordination control method based on Dempster–Shafer (D-S) evidence synthesis theory is proposed to achieve the speed coordination of the slave manipulator under the condition of a large transmission delay in space teleoperation. First, the D-S evidence synthesis theory is applied to transform the speed coordination rule method. The model for predicting the manipulator’s future state is given to gain confidence in each state. Subsequently, performance comparison experiments of D-S evidence synthesis control theory, cascade control, fuzzy control, and adaptive fuzzy control are completed on the 3-degree-of-freedom (3-DOF) manipulator simulation platform. Finally, according to the experimental results, the accuracy of D-S evidence synthesis theory is 7.49% better than cascade control, 16.84% better than fuzzy control, and 28.45% better than adaptive fuzzy control. The adaptability of D-S evidence synthesis theory is generally superior to cascade control, slightly inferior to fuzzy control and inferior to adaptive fuzzy control.
Funder
Independent Program of State Key Laboratory of Robotics
Liaoning Revitalization Talents Program
Strategic Priority Research Program on Space Science, the Chinese Academy of Science