Robust control of master-slave robot system considering environmental uncertainties

Toru Namerikawa, Satoshi Ito, Hisanosuke Kawada

Research output: Contribution to journalConference article

3 Citations (Scopus)

Abstract

In this paper, a linear robust control system design based on μ-synthesis is proposed for impedance shaped 2-DOF direct-drive robot manipulators in bilateral master-slave system with environmental uncertainties and communication delay. A general condition based on the structured singular value μ for robustness of a bilateral manipulator 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 system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties and constant communication delay.

Original languageEnglish
Article number60520F
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume6052
DOIs
Publication statusPublished - 2005 Dec 1
Externally publishedYes
EventOptomechatronic Systems Control - Sappora, Japan
Duration: 2005 Dec 52005 Dec 7

Keywords

  • μ-Synthesis
  • Constant Communication Delay
  • Environmental Uncertainties
  • Master-Slave Robotic System
  • Robust Control

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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