Force/PositionControl of Heterogeneous Teleoperation System Based on Adaptive Fuzzy& CMAC NN

This study is mainly about the designation of a new type of Haptic Device and a new control algorithm on asymmetric teleoperation robots system. Aiming at the problems of tracking and transparency of the asymmetric teleoperation system, An new Adaptive Fuzzy & CMAC NN control algorithm was proposed. The Haptic Device was chosen as master-Robot of the system. Baxter dual-arm robot was chosen as slave-Robot of the system. The simulation experiment of Heterogeneous Teleoperation System Based on Adaptive Fuzzy & CMAC NN was carried out. The experiment results showed that the maximum values of displacement tracking errors in three directions x,y,z are 0.02m, 0.01m, 0.01m respectively. Compared with Adaptive Fuzzy control, the performance of the new control algorithm is improved. The force feedback experiment on real asymmetric teleoperation robot system was carried out. The results showed that the force feedback wave is consistent with the actual situation and showed that the Adaptive Fuzzy & CMAC NN control algorithm proposed is superior to Adaptive Fuzzy control algorithm. Therefore, the new algorithm perfectly satisfied the system. The experiment parameters also demonstrates the Haptic Device satisfies the design requirements of the asymmetric teleoperation robots system and the industry standards.