Robust Control of Motion/Force for Robotic Manipulators With Random Time Delays

Abstract

In this paper, robust control with delayed measurements is investigated for remote motion/force control of robotic manipulators with random time delays. Both sensor-to-controller and controller-to-actuator random-network-induced delays are considered in the remote networked control. These random-network-induced delays are modeled as Markov processes. Based on the stochastic Lyapunov method, sufficient conditions for the boundedness in probability of system solutions are given. It is proven that all the signals of the robotic manipulator system are bounded in probability. Finally, extensive simulations and experiments are performed to show the effectiveness of the proposed method.