Implementation of Bilateral Control of fuzzy Robot Hand using Analytic Hierachy Process

계층적 분석방법을 이용한 퍼지 로봇 핸드의 양방향 제어의 구현

Tele manipulator is distingushed from industrial robot by iterating same specified work. Manipulator operator is included in control loop for controlling the telemanipulator because he decide directly during the work and order controllabily reducing the modelling error of telemanipulator which depend on the PID controller. But position-force control method of bidirectional control impose unsafety of vibiration and Analytic Hierachy Method can stabilize for reducing nonlinear modelling error by expert operator because of transformation empirical control rule to linear model.