Abstract
This paper deals with robust control of a masterslave teleoperation robotic system considering environmental uncertainties. We construct a master-slave system by using two 2-DOF Direct Drive robot manipulators and design a robust control system via impedance shaping and μ-Synthesis considering various uncertainties; e.g., environment and operator dynamics, perturbation of impedance model and time delay in telecommunications. The proposed control methodology can guarantee the robust stability and the robust performance for all these uncertainties of the master-slave robotic system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties.
| Original language | English |
|---|---|
| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Pages | 1299-1304 |
| Number of pages | 6 |
| Volume | 2 |
| Publication status | Published - 2005 |
| Externally published | Yes |
| Event | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 2005 Jul 24 → 2005 Jul 28 |
Other
| Other | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 |
|---|---|
| Country | United States |
| City | Monterey, CA |
| Period | 05/7/24 → 05/7/28 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Robust control of master-slave robot system considering environmental uncertainties. / Lin, Ruiqu; Namerikawa, Toru.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2005. p. 1299-1304 WB2-03.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Robust control of master-slave robot system considering environmental uncertainties
AU - Lin, Ruiqu
AU - Namerikawa, Toru
PY - 2005
Y1 - 2005
N2 - This paper deals with robust control of a masterslave teleoperation robotic system considering environmental uncertainties. We construct a master-slave system by using two 2-DOF Direct Drive robot manipulators and design a robust control system via impedance shaping and μ-Synthesis considering various uncertainties; e.g., environment and operator dynamics, perturbation of impedance model and time delay in telecommunications. The proposed control methodology can guarantee the robust stability and the robust performance for all these uncertainties of the master-slave robotic system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties.
AB - This paper deals with robust control of a masterslave teleoperation robotic system considering environmental uncertainties. We construct a master-slave system by using two 2-DOF Direct Drive robot manipulators and design a robust control system via impedance shaping and μ-Synthesis considering various uncertainties; e.g., environment and operator dynamics, perturbation of impedance model and time delay in telecommunications. The proposed control methodology can guarantee the robust stability and the robust performance for all these uncertainties of the master-slave robotic system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties.
UR - http://www.scopus.com/inward/record.url?scp=27644532438&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=27644532438&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:27644532438
VL - 2
SP - 1299
EP - 1304
BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ER -