Robust Control Design for a Master-Slave Robotic System Considering Environmental Uncertainties and Communication Delay
Toru Namerikawa, Ruiqu LIN, Satoshi Ito, Hisanosuke Kawada · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2006
In this paper, a linear robust control system design based on μ-synthesis is proposed for impedance shaped 2-DOF robot manipulators in bilateral master-slave robotic system with environmental uncertainties and communication delay. A general condition based on the structured singular value μ for robustness of a bilateral master-slave robotic system 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 robotic system. Several experimental results show the effectiveness of our proposed approach for various environmental uncertainties and constant communication delay.