Robust control design for a master-slave robotic system considering environmental uncertainties and communication delay

Toru Namerikawa; Ruiqu Lin; Satoshi Ito; Hisanosuke Kawada

doi:10.1299/kikaic.72.2821

Robust control design for a master-slave robotic system considering environmental uncertainties and communication delay

Toru Namerikawa, Ruiqu Lin, Satoshi Ito, Hisanosuke Kawada

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

In this paper, a linear robust control system design based on μ-synthesis is proposed for impedance shaped 2-DOF robot manipulators in bilateral master-slave robotic system with environmental uncertainties and communication delay. A general condition based on the structured singular value μ for robustness of a bilateral master-slave robotic system is derived. The proposed control methodology can guarantee the robust stability and the robust performance for environmental uncertainty, perturbation of operator dynamics, perturbation of master and slave robot manipulator dynamics and constant communication delay of the master-slave robotic system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties and constant communication delay.

Original language	English
Pages (from-to)	2821-2828
Number of pages	8
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	72
Issue number	9
DOIs	https://doi.org/10.1299/kikaic.72.2821
Publication status	Published - 2006 Sept
Externally published	Yes

Keywords

Constant communication delay
Environmental uncertainties
Master-slave robotic system
Robust control
μ-synthesis

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.72.2821

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Robust control design for a master-slave robotic system considering environmental uncertainties and communication delay. / Namerikawa, Toru; Lin, Ruiqu; Ito, Satoshi et al.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 72, No. 9, 09.2006, p. 2821-2828.

Research output: Contribution to journal › Article › peer-review

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AB - In this paper, a linear robust control system design based on μ-synthesis is proposed for impedance shaped 2-DOF robot manipulators in bilateral master-slave robotic system with environmental uncertainties and communication delay. A general condition based on the structured singular value μ for robustness of a bilateral master-slave robotic system is derived. The proposed control methodology can guarantee the robust stability and the robust performance for environmental uncertainty, perturbation of operator dynamics, perturbation of master and slave robot manipulator dynamics and constant communication delay of the master-slave robotic system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties and constant communication delay.

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Robust control design for a master-slave robotic system considering environmental uncertainties and communication delay

Abstract

Keywords

ASJC Scopus subject areas

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