mohadeseh yaryan - amirkabir university
mahyar naraghi
seyed mehdi rezaei
mohammad zareinejad

this paper investigates a new design procedure for output tracking control of bilateral teleoperation system with flexible link slave robot . This proposed hybrid scheme consists of collocated proportionalderivative PD as feedback controller and inpurt shaping IS controller for input shaping the positive and negatie input shapers with different constraints are proposed based on the properties of the system stability analysis of proposed control algorithm based on lyapunov stability theorem method in the presence of time delays on com munication channels is proved.

bilateral nonlinear teleperation,flexible slave robot ,input shaping -PD controller ,vibration control in flexible manipulators ,time delayed communication