This paper investigates bilateral control of teleoperators with closed architecture and subjected to arbitrary bounded time-varying delay. A prominent challenge for bilateral control of such teleoperators lies in the closed architecture, especially in the context not involving interaction force/torque measurement. This yields the long-standing situation that most bilateral control rigorously developed in the literature is hard to be justified as applied to teleoperators with closed architecture. With a new class of dynamic feedback, we propose kinematic and adaptive dynamic controllers for teleoperators with closed architecture, and we show that the proposed kinematic and dynamic controllers are robust with respect to arbitrary bounded time-varying delay. In addition, by exploiting the input-output properties of an inverted form of the dynamics of robot manipulators with closed architecture, we remove the assumption of uniform exponential stability of a linear time-varying system due to the adaptation to the gains of the inner controller in demonstrating stability of the presented adaptive dynamic control. The application of the proposed approach is illustrated by the experimental results using a Phantom Omni and a UR10 robot.

中文翻译：

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具有封闭架构和时变延迟的远程操作员的双边控制

本文研究了具有封闭结构并受到任意有界时变延迟的远程操作员的双边控制。这种远程操作员的双边控制的一个突出挑战在于封闭的架构，特别是在不涉及相互作用力/扭矩测量的情况下。这产生了长期存在的情况，即文献中严格开发的大多数双边控制很难被证明适用于具有封闭架构的远程操作员。通过一类新的动态反馈，我们为具有封闭架构的远程操作员提出了运动学和自适应动态控制器，并且我们证明了所提出的运动学和动态控制器对于任意有界时变延迟是鲁棒的。此外，通过利用具有封闭结构的机器人机械手动力学的倒置形式的输入-输出特性，我们消除了线性时变系统的均匀指数稳定性假设，因为它适应了内部控制器在证明稳定性方面的增益提出的自适应动态控制。使用 Phantom Omni 和 UR10 机器人的实验结果说明了所提出方法的应用。