@inproceedings{403ac5370b3a49ebb0878a1939bf4265,
title = "Bilateral teleoperation of flexible-joint robot system",
abstract = "In this paper the problem of bilateral teleoperation of flexible joint manipulators is investigated. Different from the previous works on bilateral teleoperation systems, we investigate the underactuated robotic manipulators instead of the fully actuated one. Specifically, the master and slave robots exhibit joint flexibility. Given that the time-varying delay, the master/ slave robots are coupled using the PD type control strategy, the nonlinear master-slave teleoperation system is shown to be asymptotic stable. Simulations results are finally presented to verify the proposed results.",
keywords = "Flexible joint, Motion synchronization, PD type controller, Time-varying delays, Underactuated",
author = "Weiquan Ye and Dehong Wang and Dihua Zhai and Zhijun Li and Yuanqing Xia",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",
year = "2015",
month = mar,
day = "2",
doi = "10.1109/WCICA.2014.7053012",
language = "English",
series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "March",
pages = "1911--1916",
booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",
address = "United States",
edition = "March",
}