Robust control of master-slave robot system considering environmental uncertainties

Toru Namerikawa; Satoshi Ito; Hisanosuke Kawada

doi:10.1117/12.650713

Robust control of master-slave robot system considering environmental uncertainties

Toru Namerikawa, Satoshi Ito, Hisanosuke Kawada

Research output: Contribution to journal › Conference article › peer-review

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 language	English
Article number	60520F
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	6052
DOIs	https://doi.org/10.1117/12.650713
Publication status	Published - 2005
Externally published	Yes
Event	Optomechatronic Systems Control - Sappora, Japan Duration: 2005 Dec 5 → 2005 Dec 7

Keywords

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

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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10.1117/12.650713

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title = "Robust control of master-slave robot system considering environmental uncertainties",

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.",

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author = "Toru Namerikawa and Satoshi Ito and Hisanosuke Kawada",

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language = "English",

volume = "6052",

journal = "Proceedings of SPIE - The International Society for Optical Engineering",

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TY - JOUR

T1 - Robust control of master-slave robot system considering environmental uncertainties

AU - Namerikawa, Toru

AU - Ito, Satoshi

AU - Kawada, Hisanosuke

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

KW - Constant Communication Delay

KW - Environmental Uncertainties

KW - Master-Slave Robotic System

KW - Robust Control

KW - μ-Synthesis

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DO - 10.1117/12.650713

M3 - Conference article

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VL - 6052

JO - Proceedings of SPIE - The International Society for Optical Engineering

JF - Proceedings of SPIE - The International Society for Optical Engineering

M1 - 60520F

T2 - Optomechatronic Systems Control

Y2 - 5 December 2005 through 7 December 2005

ER -

Robust control of master-slave robot system considering environmental uncertainties

Abstract

Keywords

ASJC Scopus subject areas

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