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

Table 3

RMSE, position (Slave 1 contacting with a reverse wall).

Contacting with a reverse wall	Master and Slave 1	Master and Slave 2	Slave 1 and Slave 2
Position joint 1	0.308	0.2709	0.0856
Position joint 2	0.2507	0.2444	0.0379
Position joint 3	0.2442	0.2378	0.0801