Robust control of master-slave robot system considering environmental uncertainties

Toru Namerikawa, Satoshi Ito, Hisanosuke Kawada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
EditorsF. Janabi-Sharifi
Volume6052
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventOptomechatronic Systems Control - Sappora, Japan
Duration: 2005 Dec 52005 Dec 7

Other

OtherOptomechatronic Systems Control
CountryJapan
CitySappora
Period05/12/505/12/7

Fingerprint

Robust control
robots
Manipulators
manipulators
communication
Robots
Communication
control systems design
perturbation
Systems analysis
impedance
methodology
Control systems
operators
synthesis
Uncertainty

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Condensed Matter Physics

Cite this

Namerikawa, T., Ito, S., & Kawada, H. (2005). Robust control of master-slave robot system considering environmental uncertainties. In F. Janabi-Sharifi (Ed.), Proceedings of SPIE - The International Society for Optical Engineering (Vol. 6052). [60520F] https://doi.org/10.1117/12.650713

Robust control of master-slave robot system considering environmental uncertainties. / Namerikawa, Toru; Ito, Satoshi; Kawada, Hisanosuke.

Proceedings of SPIE - The International Society for Optical Engineering. ed. / F. Janabi-Sharifi. Vol. 6052 2005. 60520F.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Namerikawa, T, Ito, S & Kawada, H 2005, Robust control of master-slave robot system considering environmental uncertainties. in F Janabi-Sharifi (ed.), Proceedings of SPIE - The International Society for Optical Engineering. vol. 6052, 60520F, Optomechatronic Systems Control, Sappora, Japan, 05/12/5. https://doi.org/10.1117/12.650713
Namerikawa T, Ito S, Kawada H. Robust control of master-slave robot system considering environmental uncertainties. In Janabi-Sharifi F, editor, Proceedings of SPIE - The International Society for Optical Engineering. Vol. 6052. 2005. 60520F https://doi.org/10.1117/12.650713
Namerikawa, Toru ; Ito, Satoshi ; Kawada, Hisanosuke. / Robust control of master-slave robot system considering environmental uncertainties. Proceedings of SPIE - The International Society for Optical Engineering. editor / F. Janabi-Sharifi. Vol. 6052 2005.
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