We propose a way to control several robots at a glance by using visual data provided by a single vision camera. Position and orientation of the group is given by a main robot (a master) which has a very simple camera on its top. This robot also has two encoders for determining its positioning related to the origin. The other (slave) robots have no position/orientation sensors as camera/angle-se...

This paper presents experimental results for master-slave synchronization of two robot manipulators using a recently developed observer-controller scheme. The paper aims to investigate the value and the limitations of the theory. In particular, the theoretical result of uniform ultimate boundedness of the synchronization errors is investigated. Back-to-back simulation results are also presented...

The potential for use of robotic systems in remote applications arenas has long motivated development of robust and stable means of teleoperated control of slave systems. However, telerobotic systems face challenges stemming from the devices themselves, environmental factors, communication and control complexities. To address these challenges, we will adopt the passivity based synchronization f...

PASM 2004: Performance models for master/slave parallel programs – p.1/22

In this paper, the problem of control and stabilization of a bilateral tele-surgery roboticsystem in interaction with an active soft tissue is considered. To the best of the authors’ knowledge, theprevious works did not consider a realistic model for a moving soft tissue like heart tissue in beating heartsurgery. Here, a new model is proposed to indicate significant characteristics of a moving ...

his paper proposed a robust control method for a land-based master and an underwater slave robotic manipulator. In order to comprehend the synchronization between the two diverse systems with the existing uncertainties, external disturbances and fully unknown parameters are considered. For a robust position tracking control of the underwater slave manipulator, an adaptive terminal sliding mode ...