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To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.<\/jats:p>","DOI":"10.1017\/s026357471400068x","type":"journal-article","created":{"date-parts":[[2014,3,25]],"date-time":"2014-03-25T02:21:30Z","timestamp":1395714090000},"page":"1003-1016","source":"Crossref","is-referenced-by-count":53,"title":["Position and force tracking in nonlinear teleoperation systems under varying delays"],"prefix":"10.1017","volume":"33","author":[{"given":"Farzad","family":"Hashemzadeh","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mahdi","family":"Tavakoli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,3,24]]},"reference":[{"key":"S026357471400068X_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2005.861878"},{"key":"S026357471400068X_ref14","volume-title":"Control of Robot Manipulators in Joint Space","author":"Kelly","year":"2005"},{"key":"S026357471400068X_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2017803"},{"key":"S026357471400068X_ref9","doi-asserted-by":"publisher","DOI":"10.1115\/1.4001215"},{"key":"S026357471400068X_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2007.897285"},{"key":"S026357471400068X_ref4","first-page":"621","volume-title":"Proceedings of the American Control Conference","author":"Kim","year":"2005"},{"key":"S026357471400068X_ref18","doi-asserted-by":"publisher","DOI":"10.1162\/105474602321050695"},{"key":"S026357471400068X_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2008.919874"},{"key":"S026357471400068X_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2005.06.001"},{"key":"S026357471400068X_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2011.01.004"},{"key":"S026357471400068X_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.825271"},{"key":"S026357471400068X_ref15","volume-title":"Robot Modeling and Control","author":"Spong","year":"2005"},{"key":"S026357471400068X_ref2","unstructured":"R. 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