Abstract:An adaptive fuzzy trajectory tracking control scheme was studied for a class of teleoperated robot systems with dynamics, kinematic uncertainties and unknown constraints of actuators. In the scheme,accurate dynamics model of the robot remote operating system was not needed,the motion parameters of the end of the manipulator and the external force on the end were unnecessary to measure.The unknown robot dynamics model was approximated by an adaptive fuzzy system, the Jacobian matrix of the predicted robot was constructed by using the linearization characteristics of the kinematic parameters, and the approximate representation of the tracking target was realized with the help of parameter update law.In addition, an adaptive fuzzy online trajectory tracking control law was designed by using Nussbaum function to process the input constraints of the actuator to realize input constraint compensation. Aiming at the interaction force received by the master and slave end of the teleoperation robot system, with the help of the adaptive fuzzy system, the fuzzy terms were added to the control law to achieve the approximation of the interaction force, so as to achieve more stable and accurate trajectory tracking.It is proved that all the closed-loop signals are bounded and the position error converges to zero. The simulation test further proves the effectiveness of the theoretical scheme.