Synchronization of single-master multi-slave teleoperation systems with communication delays

Teleoperation systems are used in a vast field of applications. Single-master multi-slave (SMMS) configuration can extend performance of these systems by increasing dexterity, task sharing capacity, and enhancing system robustness. In this paper, a novel controller design is developed to guarantee state synchronization of SMMS systems under constant and time-varying delays in free and constrained motion. Different environment forces are considered for the salve robots. Moreover, the exact knowledge of the robots' parameters are not needed in the design procedure. The novelties of this paper are: (i) different constant and time-varying delays in the forward and backward communication channels in the SMMS configuration are considered; (ii) different environment forces interacting with each of the slave robots is taken into account; (iii) controller design is performed in the presence of parameter uncertainties. A set of 2-DOF manipulators are used as master and slave robots in simulation results to confirm the effectiveness of the proposed method.

Automated summary

In this paper, a novel controller design is proposed for ensuring state synchronization of single-master multi-slave systems under different delays, environment forces, and parameter uncertainties. Simulation results with 2-DOF manipulators as master and slave robots confirm the effectiveness of the proposed method.