The MICROTREX (Micro Telerobotic Experiment) project proposes to use a small flight telerobot in low earth orbit to perform ground-controlled telerobotics experiments. These experiments will evaluate the effectiveness of ground-based control of an orbital telerobot in the presence of variable communications time-delay using a variety of control techniques including closed-loop force feedback po...

The asymmetry in bilateral teleoperation, i.e., the differences of mechanical structures, sizes, and number joints between master slave robots, can introduce kinematics redundancy workspace inequality problems. In this article, a novel shared autonomy control strategy is proposed for handling which has two main contributions. First, to deal with redundancy, provides self-regulation algorithm or...

The technological developments in distributed systems have led to new telerobotic applications, such as virtual laboratories and remote maintenance of complex equipment. These applications must satisfy both the general requirements of distributed computing, e.g. location transparency and interoperability, and the domain-specific requirements of reconfigurability, guaranteed performance, real-ti...

The problem of stabilization of a force-reflecting telerobotic system in presence of time delay in the communication channel is addressed. We introduce an approach that is based on application of the input-to-output stability (IOS) small gain theorem for functional differential equations (FDEs). A version of the stabilization algorithm as well as its two adaptive extensions are proposed. For al...