Passive four-channel multilateral shared control architecture in teleoperation

The stability of a force-reflecting bilateral teleoperator in the presence of time delay is solved in the former researches, and recently the four-channel architecture in teleoperation is focused by many literatures. This paper proposes a novel passive four-channel architecture (PFCA). Furthermore, two types of multilateral shared control architecture existed in space teleoperation are put forward, one is Dual-Master Multilateral Shared Control Architecture (DMMSCA), the other is Dual-Slave Multilateral Shared Control Architecture (DSMSCA). Simulations show that PFCA, DMMSCA and DSMSCA can maintain stability in the presence of large time delay.