Una Implementación Simple de un Sistemas de Control Adaptativo Inteligente para la Interacción Humano-Robot (A Simple Implementation of an Intelligent Adaptive Control Systems for Human-Robot Interaction)

Raúl Villafuerte Segura (villafuerte@uaeh.edu.mx)2, Omar Arturo Domínguez Ramírez (omar@uaeh.edu.mx)2, Oscar González Hernández (ogonzalez@itesa.edu.mx)1, Miguel Angel Hoyos León (mikehoyos7@gmail.com)2


1Instituto Tecnológico Superior del Oriente del Estado de Hidalgo
2Universidad Autónoma del Estado de Hidalgo

This paper appears in: Revista IEEE América Latina

Publication Date: Jan. 2016
Volume: 14,   Issue: 1 
ISSN: 1548-0992


Abstract:
In this paper an implementation of a fuzzy adaptive control law to manipulate device of Human-Robot interaction is presented. Mamdani type fuzzy systems are employed to approximate the dynamics of interaction system. An adaptation law is added to controller to compensate for parametric variations and/or uncertainties of the interaction human-robot. The theoretical results proposed are illustrated on a PHANToM Premium 1.0 haptic device.

Index Terms:
Control nonlinear systems, Fuzzy control systems, Adaptive control systems, Haptic interfaces and devices.   


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