Robust control of master-slave robot system considering environmental uncertainties

Ruiqu Lin, Toru Namerikawa

研究成果: Conference contribution

3 引用 (Scopus)

抄録

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
ホスト出版物のタイトルIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ページ1299-1304
ページ数6
2
出版物ステータスPublished - 2005
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

Fingerprint

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

ASJC Scopus subject areas

  • Engineering(all)

これを引用

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

研究成果: Conference contribution

Lin, R & Namerikawa, T 2005, Robust control of master-slave robot system considering environmental uncertainties. : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 巻. 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. : IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 巻 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. 巻 2 2005. pp. 1299-1304
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