Abstract
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.
Highlights
Multilateral teleoperation systems are multirobot extensions of bilateral teleoperation systems
The contributions of the paper can be summarized as follows: 1- Three-channel architecture is extended to multilateral systems, 2- Three-channel controllers are modified with damping injection to guarantee delayindependent stability of three-channel multilateral systems under constant time delay, 3- Delay-independent L2 input–output stability analysis for three-channel-based multilateral teleoperation systems is proposed, 4- The use of inverse hybrid matrices is proposed to compare the transparency of the proposed three-channel controllers with some of the existing controllers under constant time delay
With the extension of three-channel architecture to multilateral control, it was shown with experiments and numerical analysis that better transparency
Summary
Multilateral teleoperation systems are multirobot extensions of bilateral teleoperation systems. To get better performance and still guarantee stability, for trilateral teleoperation (two masters and one slave), a less conservative stability criterion was proposed in [22] and [23]: absolute stability for the two-channel PP architecture This criterion can be used to choose different controller gains for each robot, it does not solve the steady-state error problem. The contributions of the paper can be summarized as follows: 1- Three-channel architecture is extended to multilateral systems, 2- Three-channel controllers are modified with damping injection to guarantee delayindependent stability of three-channel multilateral systems under constant time delay, 3- Delay-independent L2 input–output stability analysis for three-channel-based multilateral teleoperation systems is proposed, 4- The use of inverse hybrid matrices is proposed to compare the transparency of the proposed three-channel controllers with some of the existing controllers under constant time delay.
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