Design, control and implementation of nonlinear bilateral macro–micro teleoperation systems by external force estimation.

Transparency improvement of the closed loop system when the slave robot is in contact with environment by using estimated external force in the control scheme.

Considering the effect of time delays in communication channels between master and slave robot.

Proposed a force estimation algorithm, subsequently it is theoretically and experimentally demonstrated that closed loop system in the presence of estimated external forces in control scheme is stable.