Bilateral Control System of Nonlinear Flexible Master-Slave Arms with Random Delay Affected by Contact Force with Obstacle

Abstract

This paper investigates a networked bilateral control system affected by a contact force. The proposed system consists of rigid master and nonlinear flexible slave arms, and the network which causes a random delay connects both arms. The slave arm collides with an obstacle during its motion. An extended Kalman filter is designed to reduces the effect of the random delay. Numerical simulations is demonstrated to confirm the performance of the proposed system.