Robust control of master-slave robot system considering environmental uncertainties

摘要

This paper deals with robust control of a master-slave 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 mu-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