This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot on the slave side. A novel nonsingular fast terminal sliding-mode algorithm, together with varying dominance factors for cooperation, is proposed to offer this system's fast position and force tracking, as well as an integrated perception for the operator on the reconfigurable slave robot (manipulator). The Type-2 fuzzy model is used to describe the overall system dynamics, and accordingly a new fuzzy-model-based state observer is proposed to compensate for system uncertainties. A sliding-mode adaptive controller is designed to deal with the varying zero drift of the force sensors and force observers. The stability of the closed-loop system under time-varying delays is proved using Lyapunov-Krasovskii functions. Finally, experiments to grasp different objects are performed to verify the effectiveness of this multilateral teleoperation system.

中文翻译：

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基于可重构机器人和2型模糊逻辑的新型协作结构多边远程操作


本文开发了一种创新的多边远程操作系统，在主端有两个触觉设备，在从端有一个新设计的可重构多指机器人。提出了一种新颖的非奇异快速终端滑模算法以及不同的合作主导因素，为该系统提供快速位置和力跟踪，以及为可重构从属机器人（机械手）上的操作员提供集成感知。 Type-2模糊模型用于描述整个系统动态，因此提出了一种新的基于模糊模型的状态观测器来补偿系统的不确定性。滑模自适应控制器旨在处理力传感器和力观测器的变化的零漂移。利用Lyapunov-Krasovskii函数证明了闭环系统在时变时滞下的稳定性。最后，进行了抓取不同物体的实验，以验证该多边遥操作系统的有效性。