Abstract
This paper presents stability analysis of bilateral control for single-link flexible master-slave arms with constant time delay. The considered system consists of a rigid master-arm and a single-link flexible slave-arm which are connected over the network communication with constant time delay. In this paper, the PDS (proportional, derivative and strain feedback) based bilateral control law for our flexible master-slave arm is employed. The stability of the proposed system is shown via the Lyapunov stability theorem. The performance of our bilateral control is demonstrated by several numerical results.
