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型模糊逻辑的具有新型协作结构的多边遥操作

本文开发了一种创新的多边遥操作系统，在主端具有两个触觉设备，在从属端具有新设计的可重新配置的多指机器人。提出了一种新颖的非奇异快速终端滑模算法，并结合了不同的主导因素进行协作，以提供该系统的快速位置和力跟踪功能，并为可重构从属机器人（操纵器）上的操作员提供集成感知。类型2模糊模型用于描述整个系统动力学，因此，提出了一种新的基于模糊模型的状态观测器，以补偿系统的不确定性。滑模自适应控制器设计用于处理力传感器和力观测器的变化零漂移。利用Lyapunov–Krasovskii函数证明了时变时滞下闭环系统的稳定性。最后，进行实验以掌握不同的目标，以验证该多边遥操作系统的有效性。