環境の不確かさと通信遅延を考慮したマスタ・スレーブシステムのロバスト制御(<小特集>運動と振動の制御の21世紀への新展開)

概要

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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.
社団法人日本機械学会の論文
2006-09-25