Bilateral teleoperation of flexible-joint robot system

In this paper the problem of bilateral teleoperation of flexible joint manipulators is investigated. Different from the previous works on bilateral teleoperation systems, we investigate the underactuated robotic manipulators instead of the fully actuated one. Specifically, the master and slave robots exhibit joint flexibility. Given that the time-varying delay, the master/ slave robots are coupled using the PD type control strategy, the nonlinear master-slave teleoperation system is shown to be asymptotic stable. Simulations results are finally presented to verify the proposed results.