Robust control design for a master-slave robotic system considering environmental uncertainties and communication delay

Toru Namerikawa, Ruiqu Lin, Satoshi Ito, Hisanosuke Kawada

研究成果: Article査読

1 被引用数 (Scopus)

抄録

In this paper, a linear robust control system design based on μ-synthesis is proposed for impedance shaped 2-DOF robot manipulators in bilateral master-slave robotic system with environmental uncertainties and communication delay. A general condition based on the structured singular value μ for robustness of a bilateral master-slave robotic system 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 robotic system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties and constant communication delay.

本文言語English
ページ(範囲)2821-2828
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
72
9
DOI
出版ステータスPublished - 2006 9月
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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