Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays

Table 1

RMSE (free motion).

Free motion	Master and Slave 1	Master and Slave 2	Slave 1 and Slave 2
Position joint 1	0.0353	0.0429	0.0465
Position joint 2	0.0434	0.0444	0.035
Position joint 3	0.0453	0.038	0.0431