A Simple Implementation of an Intelligent Adaptive Control Systems for Human-Robot Interaction

摘要

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.