Fuzzy logic rate maintenance in remotely controlled robotic systems

A fuzzy system for maintaining joint rates as commanded by a human operator, or an intelligent guidance system, in the remote control of a multi-joint robotic manipulator system is described. The inputs to the system are joint rate commands required to translate or rotate the point of resolution of a robotic arm. The system maintains the joint rates at the required levels based on feedback from joint angle encoders, their respective time tags, and fuzzy logic based rules to account for the robotic arm dynamics. We discuss the rate maintenance system implemented and tested in a Remote Manipulator System Simulator (RMSS) at the Goddard Space Flight Center (GSFC)