Abstract
This paper deals with robust control of a master-slave robotic system. We construct a master-slave system by using two 2-DOF 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 system. Experimental results show the effectiveness of our proposed approach for various environmental uncertainties.
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