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

Table 2

RMSE (drawing).

Drawing a letter “O”	Master and Slave 1	Master and Slave 2	Slave 1 and Slave 2
-axis	0.1351	0.1587	0.1265
-axis	0.1739	0.1704	0.2302
Drawing a triangle “△”	Master and Slave 1	Master and Slave 2	Slave 1 and Slave 2
-axis	0.1043	0.0996	0.112
-axis	0.1539	0.1425	0.1053