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A Multi-Master / Single-Slave Teleoperation System

[+] Author Affiliations
M. Shahbazi, S. F. Atashzar, R. V. Patel

Western University (UWO), London, ON, Canada

H. A. Talebi

Amirkabir University of Technology (UWO), Tehran, Iran

Paper No. DSCC2012-MOVIC2012-8714, pp. 107-112; 6 pages
  • ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
  • Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control
  • Fort Lauderdale, Florida, USA, October 17–19, 2012
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4531-8
  • Copyright © 2012 by ASME


In this paper, a multi-master/single-slave (MM/SS) teleoperated system is discussed. The desired objectives for the MM/SS system include both cooperative and training applications, such as surgical teleoperation and surgical training. An impedance-based control methodology is developed to satisfy the desired objectives of the MM/SS system in the presence of unknown communication delay. The developed methodology is an extension of a structure previously proposed for a dual-user system. To analysis stability of the closed-loop system, the small-gain theorem is used. The proposed stability procedure gives a sufficient condition to guarantee stability of the system in the presence of time delays. Experimental results performed on an MM/SS system with two operators communicating through the Internet demonstrate the validity of the proposed scheme.

Copyright © 2012 by ASME



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