Three-channel control architecture for multilateral teleoperation under time delay

Authors

UĞUR TÜMERDEM

DOI

10.3906/elk-1802-144

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 L2 stability and high transparency in multilateral teleoperation systems. The theoretical and computational analyses are verified with experiment results.

Keywords

Robotics, teleoperation, haptics, time delay

First Page

120

Last Page

138

Recommended Citation

TÜMERDEM, UĞUR (2019) "Three-channel control architecture for multilateral teleoperation under time delay," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 27: No. 1, Article 11. https://doi.org/10.3906/elk-1802-144
Available at: https://journals.tubitak.gov.tr/elektrik/vol27/iss1/11