抄録
This paper deals with robust control of a masterslave 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 μ-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.
| 本文言語 | English |
|---|---|
| ページ | 1299-1304 |
| ページ数 | 6 |
| 出版ステータス | Published - 2005 11月 16 |
| 外部発表 | はい |
| イベント | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States 継続期間: 2005 7月 24 → 2005 7月 28 |
Other
| Other | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 |
|---|---|
| 国/地域 | United States |
| City | Monterey, CA |
| Period | 05/7/24 → 05/7/28 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ サイエンスの応用
- 電子工学および電気工学