Abstract
Internet based multi-operator multi-robot (MOMR) teleoperation system allow the accomplishment of tasks that a single robot could not approach due to restrictions associated to the product and /or the robot. The safety issue in the system is an important problem according to its complexity. This paper describes the development of multi-layer safety structure of the safety subsystem which consists of software modules as well as hardware components after the threat analysis of the system using fault tree analysis (FTA) technology. The subsystem is divided into three layers with its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can get a high performance MOMR teleoperation system with multi-layer safety architecture
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