In this paper, a new bounded force feedback control law is proposed to guarantee position
and force tracking in nonlinear teleoperation systems in the presence of passive and …

Abstract: In this paper, the bilateral teleoperation with haptic feedback is studied under the
phase transition between the constraint and unconstraint motions. The stability of the …

A novel trilateral control architecture for Dual-master/Single-slave teleoperation system with
taking account of saturation in actuators, nonlinear dynamics for telemanipulators and …

Among the prevalent methods in linear bilateral teleoperation systems with communication
channel time delays is to employ position and velocity signals in the control scheme …

Nonlinear teleoperation systems are susceptible to significant problems, including
transparency, safety, stability and external torques/forces measurement. In order to deal with …

In this paper, the position synchronization problem of robotic manipulators, in master–slave
form, under a coordinated control scheme is addressed in both joint and task/operation …

The main goal of controller design in teleoperation systems is to achieve optimal
performance, transparency and stability in presence of factors such as time delay in …

One of the prevalent methods in linear bilateral teleoperation systems with communication
channel time delays is using position and velocity signals in the control scheme. Utilization …

Noisy behaviour of time domain passivity control (TDPC) at low velocity is a well known
problem for delayed teleoperation systems. This paper presents a novel adaptive model …

In this article, a new position/force hybrid control strategy is proposed for a class of uncertain
bilateral telerobotics systems under time-varying communication delays. This control …