As the use of telemanipulators expands, the importance of bilateral control is increasing. Bilateral control enables the human operator to manipulate objects more delicately and precisely than unilateral control. On the other hand, fuzzy control is spotlighted as a new control scheme and applied to many industrial application areas since 1980s. Fuzzy control has several different features compared with conventional control such as PID control. One of them is that it is nonlinear qualitative control. In this thesis, a fuzzy bilateral control algorithm for robot hand is proposed and experimented using an IBM PC and a master-slave manipulator system. For this purpose, we implement the master manipulator containing a dc motor inside which delivers force sensed at the slave manipulator to the operator. And a data conversion board is designed to interface an IBM PC with manipulators. Finally three experiments are performed to evaluate the designed fuzzy controller and the results are compared with PID controller.
