DocumentCode :
2961580
Title :
Neuro-fuzzy in six DOF tele-robotic control
Author :
Po-ngaen, W. ; Choomuang, R. ; Bhuripanyo, J.
Author_Institution :
Dept. of Teacher Training in Mech. Eng., King Mongkut´´s Inst. of Technol. North Bangkok, Bangkok
fYear :
2008
fDate :
5-8 Aug. 2008
Firstpage :
959
Lastpage :
964
Abstract :
A force-force bilateral scheme based on neuro-fuzzy control was designed for a six DOF tele-robotic system. An open architecture controller for the six DOF tele-robotic system has been successfully implemented. Increased system bandwidth system can be achieved with the new embedded PUMA 760 and PUMA 260 controllers. Both the slave and master robot controllers comprise a PC running a real-time operating system, a multi-axis motion controller, and a PCI force/torque data acquisition unit. Furthermore, the complex soft computing (master and slave kinematics, force acquisition, and neuro-fuzzy) was implemented using multi-tasking concepts over a real-time local network. With the new system design, and inter-processing master-slave controller computation can significantly improve the bandwidth of the system, and both the master and slave robot subsystems can be operated with high robustness of stability and manoeuvrability, and easier to fully implement and control.
Keywords :
control system analysis computing; fuzzy control; motion control; neurocontrollers; operating systems (computers); robust control; telerobotics; DOF telerobotic control; PCI force-torque data acquisition unit; embedded PUMA 260 controller; embedded PUMA 760 controller; force-force bilateral scheme; interprocessing master-slave controller computation; manoeuvrability; master robot subsystem; multiaxis motion controller; neuro-fuzzy control; open architecture controller; real-time operating system; robustness; slave robot subsystem; Bandwidth; Control systems; Force control; Master-slave; Motion control; Operating systems; Real time systems; Robot control; Robust stability; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4244-2631-7
Electronic_ISBN :
978-1-4244-2632-4
Type :
conf
DOI :
10.1109/ICMA.2008.4798888
Filename :
4798888
Link To Document :
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