ŎƬ˘˹ŘǚŘ ʊǔDŽ ȭŘ ǘɁʁ˘˿ʊǜŘȭǔƬ ˘ Řʁǜ˿ǘˁȦˁ ȭŘ ˹ŘʁˁȭǘŘƋǒ ǚǔƋƬȭƋǖǔ ,ʁƬŘǜǔ˸Ƭ ,ɁȧȧɁȭʊ ʢȭŘȭǔƬ ŘˁǜɁʁʊǜ˹Ř ʯƖ1
. IntroductionResearcher's attempts to ensure safe operation of various machines had led to the development of master-slave control systems with force-feedback. The applications of master-slave systems are widespread, including performing tasks in environments hostile to man, contaminated sites, in the depths of oceans and seas, radioactive interiors of nuclear power plants, and even medical rehabilitation. Most of master-slave systems are unilateral [9,10,19,23,25,32,33]; i.e. a device that is being controlled (slave) should behave exactly as the device that controls it (master). However, as research continued, it was noticed that the operator, that enters into interaction with the master subsystem/manipulator should be able to feel the haptic effect of the environment on the slave subsystem side. The problem posed significant challenges in its practical application, due to large distances and the inevitable time delay [1-5, 7, 8, 12, 15, 16, 18-20, 22-26, 28, 35, 38, 39]. This specific branch of robotics faces many challenges that have been tackled by scientists all over the world for many years. The main problem that arises in the communication channel between actuation devices is a time delay, which inhibit their communication. The problem is particularly pronounced, while sending information over large distances. Another challenge is the stability of such systems, given known or unknown delays in the communication channel.