A control methodology for single-master/multi-slave two-channel transparent teleoperation systems

In this paper, a new control methodology for single-master/multi-slave teleoperation systems is presented. First, the dynamics of slave robots and the tool are incorporated into an augmented system. Then, an adaptive sliding mode controller is proposed to transform both tool and master dynamics into desired impedances in the presence of unmodeled dynamics. Then, the traditional two channel architecture is modified in order to achieve prefect transparency. Finally, simulation results are presented to illustrate the enhanced performance of the proposed control methodology.