Robust control of master-slave robot system considering environmental uncertainties

Ruiqu Lin, Toru Namerikawa

研究成果: Paper

3 引用 (Scopus)

抜粋

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.

元の言語English
ページ1299-1304
ページ数6
出版物ステータスPublished - 2005 11 16
外部発表Yes
イベントProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
継続期間: 2005 7 242005 7 28

Other

OtherProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
United States
Monterey, CA
期間05/7/2405/7/28

ASJC Scopus subject areas

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

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  • これを引用

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