... on the rocker-bogie mechanism. The proposed algorithm consists of three parts. First, the inverse kinematic equations are used to transform the trajectory into appropriate desired values. Second, a sliding mode controller (SMC) is designed which used the desired values to control the motion of the robot...

... proposes a new method of controller design based on singular perturbation for the bilateral teleoperation of robots through Internet. This study provides sliding mode controller based on the singular perturbation model which is robust on time-varying delay. Using singular perturbation method...