Robust control of one DOF grasping type master-slave manipulator systems in consideration of actuator dynamics and uncertainty for objects and operator

This paper proposes a design method of a robust control system for one degree of freedom grasping type electrically-driven master-slave manipulator systems taking actuator dynamics and uncertainty of objects and operators into consideration. Based on the backstepping technique, conventional control law for the master-slave manipulator systems is extended so as to satisfy passivity of the whole systems including actuator dynamics in the presence of uncertainty for the objects and the operators under some assumptions. The proposed control scheme showed superior maneuverability compared with the conventional control scheme through the experimental works.