BILATERAL CONTROL OF a 2-DOF TELEOPERATED MANIPULATOR USING UDP SCHEME

摘要

This paper presents the design and development of a control scheme, for a robot master–slave teleoperation system man–machine interface. The developed system consists of JUPITER XL SCARA robot as a slave manipulator with only the first two links activated, a wireless User Datagram Protocol (UDP) network, and PC as a master controller. The system model parameters identified using the Least-Squares method. A workspace-control system was developed to deals with the problem of position-tracking of bilateral teleoperated two degrees of freedom manipulator, and aid the human operator in driving and controlling the slave robot that performs critical and difficult tasks such as underwater works. A Proportional-Integral-Derivative (PID) and Fuzzy Logic Control (FLC) controllers with different input signals were applied to the system. It was proved experimentally and by simulation on Matlab that the FLC gave a better performance than the PID controller. The two parallel loop subroutine technique proved a great enhancement to the system performance as it decreased the total delay time in the system to almost 25 ms.