... are designed for the master and slave robots with both LP and NLP dynamic uncertainties. Next, these controllers are incorporated into the 4-channel bilateral teleoperation control framework to achieve transparency. Then, transparency of the overall teleoperation is studied via a Lyapunov function analysis...

...Alireza Alfi; Mohammad Farrokhi This paper presents a simple structure design for bilateral teleoperation systems with uncertainties in time delay in communication channel. The goal is to achieve complete transparency and robust stability for the closed-loop system. For transparency, two local...