This study addresses the adaptive fuzzy control of redundant robotic systems for developing a new approach to workspace mapping in teleoperation. In robot teleoperation, workspace mapping is applied to accomplish various tasks involving both large reachability and accurate control. However, discontinuous trajectories in teleoperation because of mode change of the master device and undesired inputs during user operation make it difficult for the slave robotic system to follow the trajectories of the master device. Therefore, in this study, a new approach to workspace mapping in teleoperation and the application of an adaptive fuzzy controller for tracking the desired trajectory are proposed. The results of simulations and experiments conducted in this study demonstrate that the proposed workspace mapping approach based on an adaptive fuzzy controller effectively improved system performance in terms of tracking for desired trajectories in robot teleoperation.

这项研究致力于解决冗余机器人系统的自适应模糊控制问题，以开发远程操作中工作空间映射的新方法。在机器人遥操作中，应用工作区映射来完成涉及大可及性和精确控制的各种任务。然而，由于主设备的模式改变和在用户操作期间的不期望的输入而导致的远程操作中的不连续轨迹使得从动机器人系统难以跟随主设备的轨迹。因此，在这项研究中，提出了一种遥操作中工作空间映射的新方法以及一种自适应模糊控制器的跟踪期望轨迹的应用。