H∞ loop shaping for stabilization and robustness of a telemicromanipulation system

This paper presents a force-reflecting macro-micro teleoperator operating in a remote microenvironment with transmission time delays. In order to manipulate micro-objects, it is inevitable to consider the scaling effect problem between worlds with different physical characteristics, with minimal loss of physical information and robustness against variation of scaling gains. Accordingly, the controllers are designed based on the framework H_∞ loop shaping procedure approach. This approach allows a convenient means to trade-off the robustness for a pre-specified time-delay margin, variation of force scaling factors and uncertainties in master and slave modeling. The validity of the proposed method is demonstrated by simulations.