This paper presents three strategies that adjust the coordination damping and stiffness of four-channel teleoperators to maintain the teleoperation stable regardless of time-varying delays in the transmission of operator and environment forces between the master and slave robots. A first strategy employs hybrid control terms that depend on position errors and local velocities. Thus, the hybrid terms simultaneously and dynamically regulate the master–slave coupling and the local damping injections. They increase the robustness of the system to perturbations caused by delayed transmission of operator and environment forces, but are singular at zero velocities. A second strategy injects additional damping around zero velocities, according to the master–slave position error. The additional damping makes the hybrid term nonsingular and eliminates chattering at zero velocities. However, it cannot synchronize the master and slave robots in the presence of large position error. This problem is addressed by a third strategy, which reduces the order of the position error in the hybrid term to guarantee the dominance of the Proportional term in coordination. Then, the two robots can be synchronized from arbitrarily large position errors. Lyapunov stability analysis and hardware-in-the-loop experimental results verify and compare these three proposed hybrid approaches.

中文翻译：

---

通过混合阻尼-刚度调节实现稳健的四通道遥操作

本文提出了三种策略，这些策略可调节四通道远距操作员的协调阻尼和刚度，以保持远距操作稳定，而不受操作者和环境力在主从机器人之间传递的时变延迟的影响。第一种策略采用取决于位置误差和局部速度的混合控制项。因此，混合项同时动态地调节主从耦合和局部阻尼注入。它们增加了系统对因操作员和环境力的延迟传递而引起的扰动的鲁棒性，但在零速度下却是奇异的。根据主从位置误差，第二种策略在零速度附近注入额外的阻尼。额外的阻尼使混合项变得非奇异，并消除了零速度时的颤动。但是，在出现较大位置错误的情况下，它无法同步主机器人和从机器人。通过第三种策略解决了这个问题，该策略降低了混合项中位置误差的顺序，以保证协调中比例项的优势。然后，两个机器人可以从任意大的位置误差中进行同步。Lyapunov稳定性分析和硬件在环实验结果验证并比较了这三种提议的混合方法。从而降低了混合项中位置误差的阶数，从而保证了比例项在协调中的优势地位。然后，两个机器人可以从任意大的位置误差中进行同步。Lyapunov稳定性分析和硬件在环实验结果验证并比较了这三种提议的混合方法。从而降低了混合项中位置误差的阶数，从而保证了比例项在协调中的优势地位。然后，两个机器人可以从任意大的位置误差中进行同步。Lyapunov稳定性分析和硬件在环实验结果验证并比较了这三种提议的混合方法。