Robust control of master-slave robot system considering environmental uncertainties

Ruiqu Lin, Toru Namerikawa

Research output: Contribution to conferencePaper

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
Pages1299-1304
Number of pages6
Publication statusPublished - 2005 Nov 16
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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Lin, R., & Namerikawa, T. (2005). Robust control of master-slave robot system considering environmental uncertainties. 1299-1304. Paper presented at Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, United States.