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Proceedings Paper

Robust control of master-slave robot system considering environmental uncertainties
Author(s): Toru Namerikawa; Satoshi Ito; Hisanosuke Kawada
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Paper 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.

Paper Details

Date Published: 6 December 2005
PDF: 12 pages
Proc. SPIE 6052, Optomechatronic Systems Control, 60520F (6 December 2005); doi: 10.1117/12.650713
Show Author Affiliations
Toru Namerikawa, Nagaoka Univ. of Technology (Japan)
Satoshi Ito, Nagaoka Univ. of Technology (Japan)
Hisanosuke Kawada, Nagaoka Univ. of Technology (Japan)

Published in SPIE Proceedings Vol. 6052:
Optomechatronic Systems Control
Farrokh Janabi-Sharifi, Editor(s)

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