Robust control of master-slave robot system considering environmental uncertainties

Toru Namerikawa; Satoshi Ito; Hisanosuke Kawada

doi:10.1117/12.650713

6 December 2005 Robust control of master-slave robot system considering environmental uncertainties

Toru Namerikawa, Satoshi Ito, Hisanosuke Kawada

Proceedings Volume 6052, Optomechatronic Systems Control; 60520F (2005) https://doi.org/10.1117/12.650713
Event: Optomechatronic Technologies 2005, 2005, Sapporo, Japan

Abstract

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.

Citation Download Citation

Toru Namerikawa, Satoshi Ito, and Hisanosuke Kawada "Robust control of master-slave robot system considering environmental uncertainties", Proc. SPIE 6052, Optomechatronic Systems Control, 60520F (6 December 2005); https://doi.org/10.1117/12.650713

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