| Summary: | This thesis deals with the studies on the Cooperative Teleoperation Systems. The literature on cooperative teleoperation did not take into account
control architectures composed of pairs of wave-based bilateral teleoperators operating in
a shared environment. In this work The author two cooperative
control schemes based on wave variables by considering two pairs of single-master/single-slave devices collaborating to carry out operations in a shared remote environment are proposed. Such
architectures have been validated both with simulations and experimental tests.
Ch. 2 introduces a description of the two control architectures proposed and presents some
simulation results where the cooperative teleoperation systems evolve in free space and in
contact with a stiff wall.
In the Ch. 3 some experimental results which confirm the positive results of the control
schemes are illustred. Such results have been achieved by using a prototype custom built
at Laboratory of Automaiton and Robotics of University of Bologna, which is also illustrated in this chapter.
In Ch. 4 the problem of defining proper tools and procedures for an analysis, and possibly a comparison, of the performances of cooperative teleoperation systems is addressed.
In particular, a novel generalization of criteria adopted for classical (i.e. one master-one slave) teleoperators is presented and illustrated on the basis of the force-position and the
position-position cooperative control schemes proposed in Ch. 2, both from a transparency
and stability point of view, and by assuming a null time delay in the communication channel.
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