Passive Transparency Compensation for Bilateral Teleoperators with Communication Delays

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/jr/volume-2015/861425/figures/861425.fig.006a.svgz" name="861425.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>First link position of master and slave robots</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/jr/volume-2015/861425/figures/861425.fig.006b.svgz" name="861425.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Second link position of master and slave robots</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/jr/volume-2015/861425/figures/861425.fig.006c.svgz" name="861425.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Human and environmental forces</td></tr><tr class="fig-image" id="d"><td><object data="https://static-preview.hindawi.com/articles/jr/volume-2015/861425/figures/861425.fig.006d.svgz" name="861425.fig.006d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Energy level in reservoirs</td></tr></table>

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Journal of Robotics

fig6

Figure 6

Figure 6: Passive Transparency Compensation for Bilateral Teleoperators with Communication Delays 