TY - GEN
T1 - A multi-master / single-slave teleoperation system
AU - Shahbazi, M.
AU - Atashzar, S. F.
AU - Talebi, H. A.
AU - Patel, R. V.
PY - 2012
Y1 - 2012
N2 - 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 impedancebased 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. Indexing Terms: Multi-Master/Single-Slave System, Small-Gain Theorem, Teleoperation, Unknown Time Delay.
AB - 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 impedancebased 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. Indexing Terms: Multi-Master/Single-Slave System, Small-Gain Theorem, Teleoperation, Unknown Time Delay.
UR - http://www.scopus.com/inward/record.url?scp=84885939168&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885939168&partnerID=8YFLogxK
U2 - 10.1115/DSCC2012-MOVIC2012-8714
DO - 10.1115/DSCC2012-MOVIC2012-8714
M3 - Conference contribution
AN - SCOPUS:84885939168
SN - 9780791845318
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 107
EP - 112
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -