Multiple Cooperative Bilateral Teleoperation with Time-Varying Delay
نویسندگان
چکیده
This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots with time varying delay. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics by using the passive-decomposition: the shape-system describing dynamics of the cooperative works, and the locked-system representing overall behavior of the multiple slave robots. Second, we propose a PD control method for bilateral teleoperation to guarantee the asymptotic stability of the system with time varying delay. Finally, experimental results show the effectiveness of our proposed teleoperation.
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