Wednesday 22nd of November 2017
 

Study of RBF Nerve Network Tuning PD Control Algoritm of Bilateral Servo System


Guang Wen

In construction tele-robot system. When p-f architecture force feedback was used, the impact of large feedback force result in the strike-like feeling on the operators hand. If the amplitude is high, it will cause the control unstable. So a improved force feedback control method with the feature of a T-S fuzzy feedback coefficient, which could be modified online nonlinearly and continuously, is developed. A RBF-PID force controller is also designed, and formed a bilateral hydraulic servo control system. The experimental results indicate that the new improved control method reduced the impact of the feedback force, enhanced the compliance and transparency of the tele-operation of construction tele-robot system.

Keywords: Fuzzy feedback coefficient; Force Feedback; Construction Tele-robot

Download Full-Text


ABOUT THE AUTHOR

Guang Wen
School of Machinery and Engineering, Pan-zhihua University,Pan-zhihua, 617000, China,


IJCSI Published Papers Indexed By:

 

 

 

 
About IJCSI

IJCSI is a refereed open access international journal for scientific papers dealing in all areas of computer science research...

Learn more »
Join Us
FAQs

Read the most frequently asked questions about IJCSI.

Frequently Asked Questions (FAQs) »
Get in touch

Phone: +230 911 5482
Email: info@ijcsi.org

More contact details »