DESIGN OF ROBUST STABLE MASTER-SLAVE SYSTEMS WITH UNCERTAIN DYNAMICS AND TIME-DELAY

Abstract Master-slave and teleoperation systems with kinesthetic feedback enhance the dexterity of an operator performing manipulation tasks in remote, not accessible, or scaled environments. Kinesthetic feedback is achieved by closing bi-directional control loops between the operator and teleoperator site. This article proposes a method for the synthesis of robust bi-directional control loops in parameter space. Using the approach of singular frequencies a method for the synthesis of Hurwitz- and Γ-stable bi-directional controllers is developed and its application is shown by simulation. Robust performance is achieved w.r.t. parameter uncertainties of the operator and teleoperator dynamics and the bi-directional communication time delay.