Three-channel control architecture for multilateral teleoperation under time delay


TÜMERDEM U.

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, cilt.27, sa.1, ss.120-138, 2019 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 27 Konu: 1
  • Basım Tarihi: 2019
  • Doi Numarası: 10.3906/elk-1802-144
  • Dergi Adı: TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
  • Sayfa Sayıları: ss.120-138

Özet

Multilateral teleoperation is an extension of bilateral/haptic teleoperation framework to multiple operators/robots and finds applications in haptic training. As in bilateral teleoperation, time delay is an important problem, and stability and transparency, which quantifies the performance of the teleoperation system, are critical in the design of multilateral control systems. This paper proposes a novel three-channel-based multilateral control architecture with damping injection to guarantee delay-independent L-2 stability and high transparency in multilateral teleoperation systems. The theoretical and computational analyses are verified with experiment results.