A Performance and Stability Analysis for Cooperative Teleoperation Systems

In this paper the performance, in terms of transparency and stability, of two control architectures for cooperative teleoperation systems are presented and discussed. The cooperative control schemes consider two pairs of teleoperation systems collaborating to carry out operations in a shared remote environment. The information exchange occurs only between the corresponding pairs, and the slave robotsmay physically interact among themselves either through a common tool or the manipulated object.