Nonlinear robot teleoperation with random fluctuations in the feedback controller

A master and slave robot act in a teleoperation system. The master and slave angular position and velocities are sampled at integer multiples of a time step and the resulting difference errors at different sampling times are fed back both at the master and salve end after introducing appropriate feedback weights for each error sample. During the process of reading the master variables at the slave end, a teleoperation delay is introduced and like wise at the master end. In the presence of tremor and environmental noise at the master and slave ends and in addition random fluctuations in the feedback weights, we derive linearized delay stochastic differential equations for the state vector perturbation and calculate the correlations of the same in terms of the master and slave noise variances and the correlations of the master-slave error feedback weight vector. This calculation is based on approximate perturbation theory. Master-slave tracking is verified via MATLAB simulations.