Controlled synchronization of nonlinear teleoperation in task-space with time-varying delays
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This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and bounded time-varying delays in the communication channels. The asymptotic stability of the closed-loop dynamics is studied using a Lyapunov-Krasovskii functional under conditions on the controller parameters and the maximum values of time-varying delays. Simulation and experimental results are provided to validate the theoretical findings
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http://purl.org/coar/resource_type/c_6501 http://purl.org/coar/version/c_970fb48d4fbd8a85
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en