Computer Science

Computer Science ›› 2022, Vol. 49 ›› Issue (6A): 714-722.doi: 10.11896/jsjkx.210300076

• Interdiscipline & Application • Previous Articles     Next Articles

Teleoperation Method for Hexapod Robot Based on Acceleration Fuzzy Control

YIN Hong-jun1, DENG Nan2, CHENG Ya-di2   

  1. 1 China North Vehicle Institute,Beijing 100072,China
    2 School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150000,China
  • Online:2022-06-10 Published:2022-06-08
  • About author:YIN Hong-jun,born in 1976,engineer.His main research interests include intelligent control of special robots and so on.

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Abstract: In order to solve the problem that conventional speed-level controller is hard to guarantee the speed tracking capability of hexapod robot,this paper proposes a bilateral teleoperation method based on acceleration fuzzy control.Firstly,a semi-autonomous mapping scheme between the master's position and the slave's velocity is established.Then,the relationship between the acceleration of the body and the drive value of the leg joint is determined.Secondly,a fuzzy PD control algorithm is used to design the control law of teleoperation system.On this basis,for improving the operating performance of the system,the velocity or force information is fed back to the operator in the form of haptic force,after the stability range of these control law parameters is analyzed by Llewellyn criterion.Finally,a semi-physical simulation platform is developed for experiment.Experimental results show that the proposed method is feasible,and the speed-tracking and force transparency of teleoperation system are obviously improved.

Key words: Acceleration control, Bilateral teleoperation, Fuzzy control, Haptic force, Hexapod robot

CLC Number: 

  • TP242
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