Design of Intelligent Filter for Telerobotic System

In this paper, intelligent filtering methodology for masterarm translation signal is proposed. Fidelity and stability are contradicting factors in teleoperation. Human hand trembling filtering is one of the problems in telemanipulation field. During every operation the hand has a certain vibration that can affect the quality of teleoperation, especially in carrying FPD (Flat Panel for Display), nanomanipuation and other precise tasks. It is very important to study the kinesthetic perception of the human and to optimize the teleoperation system accordingly. To cancel out the influence of human's hand vibration the signal from the masterarm should be filtered. One of the feasible solutions is to use an intelligent filter based on fuzzy logic, which is a very flexible instrument. Applying intelligent filtering methodology, we can use some heuristic methods to solve the filtering problem.