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 journalArticle

1 Citation (Scopus)


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 languageEnglish
Pages (from-to)2821-2828
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number9
Publication statusPublished - 2006 Sep 1



  • 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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