PDS Based Bilateral Control System for Nonlinear Flexible Master-Slave Arms with Random Delay Considering Contact with Obstacle

Abstract

A bilateral control system connected by a communication network is investigated in this research. A rigid arm is employed as a master arm. A flexible arm is employed as a slave arm and is modeled by a nonlinear system. Moreover, the slave arm collides with an obstacle during its motion. The communication network causes a random delay. Hence, signals become noisy due to this delay. An extended Kalman filter is designed to reduce the effect of the random delay. Numerical simulations are demonstrated to confirm the performance of the proposed system.