Robust coordination control interface for networked based telerobotic system

In this paper, we propose coordination control interface for transparent networked telerobotic system under delay and bounded uncertainty. The coordination control input interface for the master manipulator combines delayed positionvelocity signals with the delayed estimated impedance properties of the interaction between slave and remote environment. The delayed position-velocity signals of the master manipulator are used to develop input interaction interface for slave manipulator. The master and slave input interface design also employs with the local position and velocity signal of the master and slave manipulator. Both master and slave input interface uses adaptive terms locally to estimate the interaction properties between human and master manipulator and between slave and remote environment. To deal with the uncertainty associated with the unmodeled dynamic and external input disturbance, robust term combined locally with adaptive control term. Using Lyapunov analysis, the stability condition is derived in the presence of delays. Finally, evaluation results are presented to demonstrate the effectiveness of the proposed input interface for real-time applications.