Abstract Local–remote teleoperated systems made up of robot manipulators have a large variety of applications, e. g. performing tasks in dangerous or inaccessible environments. They must provide the operator with the feeling of being in the remote environment and the ability of interacting with it. This objective is affected when time varying delays are present in the communication channel. In this work a control scheme for this kind of systems is proposed. It is shown that the local robot can be moved by the operator causing a (delayed) trajectory tracking in the remote manipulator. Should the later get in touch with the environment, the operator has some degree of delayed kinematic correspondence while the remote robot applies a force on the constraint surface tracking the (delayed) force commanded by the operator. The stability analysis is carried out under the assumptions that human and environment forces as well as their corresponding derivatives are bounded. Experimental results are provided to validate the proposed scheme, delivering a good performance both with rigid and elastic surfaces.

中文翻译：

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一种具有可变时间延迟的双边遥控机械臂力控制的简单方法

摘要 由机器人操纵器组成的本地远程遥控系统具有广泛的应用，例如在危险或难以接近的环境中执行任务。它们必须为操作员提供置身于远程环境中的感觉以及与之交互的能力。当通信信道中存在时变延迟时，该目标会受到影响。在这项工作中，提出了这种系统的控制方案。结果表明，本地机器人可以由操作员移动，从而导致远程机械手中的（延迟）轨迹跟踪。如果后者与环境接触，则操作员具有一定程度的延迟运动学对应关系，而远程机器人在约束表面上施加力，跟踪操作员命令的（延迟）力。稳定性分析是在人类和环境力及其相应的导数有界的假设下进行的。提供了实验结果来验证所提出的方案，在刚性和弹性表面上均具有良好的性能。