Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic.

This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot on the slave side. A novel nonsingular fast terminal sliding-mode algorithm, together with varying dominance factors for cooperation, is proposed to offer this system's fast position and force tracking, as well as an integrated perception for the operator on the reconfigurable slave robot (manipulator). The Type-2 fuzzy model is used to describe the overall system dynamics, and accordingly a new fuzzy-model-based state observer is proposed to compensate for system uncertainties. A sliding-mode adaptive controller is designed to deal with the varying zero drift of the force sensors and force observers. The stability of the closed-loop system under time-varying delays is proved using Lyapunov-Krasovskii functions. Finally, experiments to grasp different objects are performed to verify the effectiveness of this multilateral teleoperation system.