Multi-Operator/Multi-Robot Teleoperation: an Adaptive Nonlinear Control Approach

Cooperative telerobotic systems consist of multiple pairs of master/slave robotic manipulators operating in a shared environment. This paper presents a multilateral adaptive nonlinear control architecture for cooperative teleoperation. The proposed framework allows for transmission of position and force information between all master and slave robots rather than merely between corresponding units. An adaptive nonlinear controller establishes …