%0 Journal Article
	%A M. Sallam and  A. Ramadan and  M. Fanni and  M. Abdellatif
	%D 2011
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 59, 2011
	%T Stability Verification for Bilateral Teleoperation System with Variable Time Delay
	%U https://publications.waset.org/pdf/3652
	%V 59
	%X Time delay in bilateral teleoperation system was
introduced as a sufficient reason to make the system unstable or
certainly degrade the system performance. In this paper, simulations
and experimental results of implementing p-like control scheme,
under different ranges of variable time delay, will be presented to
verify a certain criteria, which guarantee the system stability and
position tracking. The system consists of two Phantom premium 1.5A
devices. One of them acts as a master and the other acts as a slave.
The study includes deriving the Phantom kinematic and dynamic
model, establishing the link between the two Phantoms over
Simulink in Matlab, and verifying the stability criteria with
simulations and real experiments.
	%P 2477 - 2482