Bilateral control of flexible master-slave arms using high-geared servomotor with time-varying delay

This paper researches the bilateral control of the flexible master-slave arms (FMSA) using the high-geared servomotor with the time-varying delay. The proposed bilateral control system consists of a rigid master arm and a parallel-structured single-link flexible slave arm. The flexible slave arm is actuated by a high-geared servomotor. Both arms are connected with the communication network which causes the time-varying delay. The signals of the reference data and the output data and so on are interacting through the communication network. The PD and PDS controllers are designed for the rigid master and flexible slave arms, respectively. These controllers include the angular velocity from each other to improve the tracking performance than the previous results. The stability of our bilateral control system is proved via the Lyapunov theorem based on the candidate Lyapunov function which is defined by the total energy of the proposed system. To demonstrate the performance of the proposed FMSA system, the numerical simulations are achieved.