Four-Channel Control Architectures for Bilateral and Multilateral Teleoperation

The four-channel architecture in teleoperation with force feedback has been studied in various existing literature. However, most of them focused on Lawrence architecture and did not research other cases. This paper proposes two other four-channel architectures: passive four-channel architecture and passive four-channel architecture with operator force. Furthermore, two types of multilateral shared control architecture based on passive four-channel architecture, which exists in space teleoperation, are put forward. One is dual-master multilateral shared control architecture, and the other is dual-slave multilateral shared control architecture. Simulations show that these four architectures can maintain stability in the presence of large time delay.