A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.


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    Titel :

    Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays


    Beteiligte:
    Sun, Da (Autor:in) / Naghdy, Fazel (Autor:in) / Du, Haiping (Autor:in)

    Erscheinungsdatum :

    2016-01-01


    Anmerkungen:

    Scopus 2-s2.0-84948783710



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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