Bilateral Control System of Nonlinear Master-Slave Arms with Time-Varying Delay Considering Contact with Obstacles

Abstract

The bilateral control system of the nonlinear flexible master-slave arms with the time-varying delay is investigated in this research. Moreover, it is considered that the nonlinear flexible slave arm contacts with the obstacle during the motion. The master arm is considered as the rigid arm and a high-geared servomotor is introduced to drive the flexible slave arm. The network between the master arm and the slave arm causes the time-varying delay. The PD- and PDS-controllers are designed for controlling the master and slave arms. By means of the Lyapunov theorem, the stability and the passivity included the contact force are proved. Finally, the performance of the proposed system is investigated by using numerical simulations.