A multi-master / single-slave teleoperation system

M. Shahbazi, S. F. Atashzar, H. A. Talebi, R. V. Patel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages107-112
Number of pages6
DOIs
StatePublished - 2012
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Publication series

NameASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Volume3

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Shahbazi, M., Atashzar, S. F., Talebi, H. A., & Patel, R. V. (2012). A multi-master / single-slave teleoperation system. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 (pp. 107-112). (ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012; Vol. 3). https://doi.org/10.1115/DSCC2012-MOVIC2012-8714