Robust Control Design for Cooperative Teleoperation

  title={Robust Control Design for Cooperative Teleoperation},
  author={Shahin Sirouspour},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
Cooperative teleoperation involves multiple operators interacting in a remote environment through multiple master and slave manipulators. This paper proposes a multi-lateral control architecture for teleoperation in cooperative environments. The proposed framework allows for transmission of position and force information between all master and slave robots rather than merely between corresponding units. A μ-synthesis-based control design is introduced for the proposed architecture. This… CONTINUE READING
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