Robust control of master-slave robot system considering environmental uncertainties

Ruiqu Lin, Toru Namerikawa

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

3 Citations (Scopus)

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 languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages1299-1304
Number of pages6
Volume2
Publication statusPublished - 2005
Externally publishedYes
EventProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
Duration: 2005 Jul 242005 Jul 28

Other

OtherProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
CountryUnited States
CityMonterey, CA
Period05/7/2405/7/28

Fingerprint

Robust control
Robots
Robotics
Remote control
Manipulators
Telecommunication
Time delay
Control systems
Uncertainty

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Lin, R., & Namerikawa, T. (2005). Robust control of master-slave robot system considering environmental uncertainties. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2, pp. 1299-1304). [WB2-03]

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 proceedingConference contribution

Lin, R & Namerikawa, T 2005, Robust control of master-slave robot system considering environmental uncertainties. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 2, WB2-03, pp. 1299-1304, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, United States, 05/7/24.
Lin R, Namerikawa T. Robust control of master-slave robot system considering environmental uncertainties. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2. 2005. p. 1299-1304. WB2-03
Lin, Ruiqu ; Namerikawa, Toru. / Robust control of master-slave robot system considering environmental uncertainties. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2005. pp. 1299-1304
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