Robust control of master-slave robot system considering environmental uncertainties

Toru Namerikawa, Satoshi Ito, Hisanosuke Kawada

研究成果: Conference article査読

3 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 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.

本文言語English
論文番号60520F
ジャーナルProceedings of SPIE - The International Society for Optical Engineering
6052
DOI
出版ステータスPublished - 2005 12 1
外部発表はい
イベントOptomechatronic Systems Control - Sappora, Japan
継続期間: 2005 12 52005 12 7

ASJC Scopus subject areas

  • 電子材料、光学材料、および磁性材料
  • 凝縮系物理学
  • コンピュータ サイエンスの応用
  • 応用数学
  • 電子工学および電気工学

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