By Topic

Robust control of one DOF grasping type master-slave manipulator systems in consideration of actuator dynamics and uncertainty for objects and operator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ishii, C. ; Dept. of Basic Eng. in Global Environ., Kogakuin Univ., Tokyo, Japan ; Hashimoto, H. ; Gavino, R.H.

This paper proposes a design method of a robust control system for one degree of freedom grasping type electrically-driven master-slave manipulator systems taking actuator dynamics and uncertainty of objects and operators into consideration. Based on the backstepping technique, conventional control law for the master-slave manipulator systems is extended so as to satisfy passivity of the whole systems including actuator dynamics in the presence of uncertainty for the objects and the operators under some assumptions. The proposed control scheme showed superior maneuverability compared with the conventional control scheme through the experimental works.

Published in:

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on  (Volume:4 )

Date of Conference:

9-12 Dec. 2003