Bilateral teleoperation of force/motion for a robotic manipulator with random delays

In this paper, bilateral teleoperation control is proposed for holonomic constrained robotic manipulators with stochastic time-varying delays in communication channels. A unified control model is introduced for representing well-known holonomic systems with an environmental constraint. By integrating Markov jump systems, the motion/force tracking control strategy is developed. Furthermore, a feasible solution for the derived linear matrix inequality guarantees the attenuation of unsymmetrical stochastic delay in an propobalty sense. Finally, the proposed control are validated by extensive simulation and experimental studies.