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http://dx.doi.org/10.5391/JKIIS.2004.14.5.525

Implementation of Real-Time Bilateral Control of Fuzzy Robot Hand using Analytic Hierachy Process  

Jin, Hyun-Soo (천안대학교 정보통신학부)
Hong, Yoo-Sik (상지대학교 컴퓨터 정보공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.14, no.5, 2004 , pp. 525-532 More about this Journal
Abstract
Telemanipulator 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. We implement fuzzy controller for 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 Hierchy method can stabilize for reducing nonlinear modelling error by expert operator because of transformation empirical control rule to linear model.
Keywords
계층분석방법;양방향 제어기;퍼지제어기;일관성지수;로봇핸드;
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