Experimental evaluation of two control schemes for cooperative teleoperation

In this paper, an experimental evaluation of two control architectures for cooperative teleoperation systems based on wave variables is presented and discussed. The cooperative control schemes consider two pairs of wave-based teleoperation systems, collaborating to carry out operations in a shared remote environment. The controllers of the system are obtained by means of LQ synthesis techniques. The information exchange occurs only between the corresponding pair, and the slave robots may physically interact between themselves either through a common tool or the manipulated object. Experimental results show the positive performance of the proposed frameworks.