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

Table 5

RMSE (hard contact of the two slave robots).

Hard contact	Master and Slave 1	Master and Slave 2	Slave 1 and Slave 2
Position joint 1	0.2501	0.2510	0.0229
Position joint 2	0.2545	0.2587	0.0342
Position joint 3	0.2533	0.2549	0.0247
Force joint 1	0.0678	0.0706	0.025
Force joint 2	0.0712	0.0698	0.0496
Force joint 3	0.0831	0.0845	0.0737