Abstract. In teleoperation tasks, communication delays between master and slave sides negatively affect the stability and transparency of closed loop system, and make it difficult to maintain a desired contact force. In order to improve the performance of contact force control in teleoperation under large time delays, a shared compliant control method is proposed in this paper. On the master si...

Received Jan 28, 2018 Revised Mar 10, 2018 Accepted Apr 13, 2018 This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique. There are two main operations being consider...

We propose the use of a hierarchical Genetic Algorithm (GA) for optimization in complex landscapes. While the slave GA tries to find local optima in the restricted fitness landscape of low complexity, the master GA tries to identify interesting regions in the entire landscape. The slave GA is a conventional GA with high convergence. The master GA is more exploratory in nature. This GA clusters ...

Sliding mode control has been used extensively in robotics to cope with parametric uncertainty and hard nonlinearities, in particular for timedelay teleoperators, which have gained gradual acceptance due to technological advancements. However, since the slave teleoperator is in contact with a rigid environment, the slave controller requires a free of chattering control strategy, thus making fir...