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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td align="left">Contacting with a reverse wall</td><td align="center">Master and Slave 1</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td align="left">Force joint 1</td><td align="center">0.0639</td></tr><tr><td align="left">Force joint 2</td><td align="center">0.0962</td></tr><tr><td align="left">Force joint 3</td><td align="center">0.0852</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

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

Journal of Sensors

tab4

Table 4

Table 4: Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays 