Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles

This paper investigates bilateral control of nonlinear teleoperation with time varying communication delays for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. First, a brief summary of dynamics of a 2DOF robot manipulator with antagonistic bi-articular muscles is given. Next, we propose bilateral control of nonlinear teleoperation which consists of a master bi-articular manipulator and a slave one. Stability analysis of the closed-loop system is provided by using a Lyapunov-based analysis. The proposed control law for a bi-articular manipulator tele-operation system does not induce instability of force reflecting teleoperators in the presence of time varying communication delays. Finally, simulation results are presented to confirm the effectiveness of the proposed control law.