Robust control of master-slave robot system considering environmental uncertainties

Author

Lin, Ruiqu ; Namerikawa, Toru

Author_Institution

Dept. of Mech. Eng., Nagaoka Univ. of Technol., Niigata

fYear

2005

fDate

24-28 July 2005

Firstpage

1299

Lastpage

1304

Abstract

This paper deals with robust control of a master-slave 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 mu-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

Keywords

control system synthesis; delays; manipulators; mechanical variables control; robust control; telerobotics; direct drive robot manipulators; environmental uncertainties; impedance shaping; master-slave teleoperation robotic system; robust control; Control systems; Delay effects; Impedance; Manipulator dynamics; Master-slave; Robots; Robust control; Robust stability; Telecommunication control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-9047-4

Type

conf

DOI

10.1109/AIM.2005.1511190

Filename

1511190