Bilateral Control of A Tele-Manipulator-Hand System with Neuro-Fuzzy Control Scheme

H. SHAO; K. NONAMI

doi:10.11511/jacc.48.0.153.0

48th Proceedings of the Japan Joint Automatic Control Conference

Session ID : G2-31

DOI https://doi.org/10.11511/jacc.48.0.153.0

Conference information

Host: The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Japan Society of Mechanical Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 43 Socies and Institutes

Bilateral Control of A Tele-Manipulator-Hand System with Neuro-Fuzzy Control Scheme

*Hui Shao, K. NONAMI

Author information

Keywords: Tele-operated manipulator hand, Bilateral control, Neuro-fuzzy control

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

In this study, we developed a tele-operated manipulator hand system with bilateral control consisting of a master unit and a slave unit for operation in dangerous or unreachable environments. The master unit is composed of a data glove with position tracker and an exoskeleton glove. The slave unit is composed of a hydraulic multi-link manipulator and a hydraulic four-finger hand. It can be mounted to a vehicle as needed for mobile deployments. In order to solve the system nonlinearities to improve the trajectory performance of the manipulator end-effector a neuro-fuzzy control strategy is proposed in position control loop. The experiment results demonstrate successful tracking and grasping with the proposed control scheme.

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