Bilateral Teleoperation for Uncertain Robot Manipulators based on the Formation Control Approach

In this work, the bilateral teleoperation of a Multi-Master Multi-Slave (MMIMS) robotic system able to perform object manipulation tasks is presented. A multi-agent formation control strategy is considered to control the object's velocity. The velocity and interaction forces are provided by the master robots while the object is manipulated with a bounded force by the slave robots. Stability and transparency are guaranteed by two-layer passivity strategy using the energy tanks approach. The stability and convergence analysis is carried out by using the Lyapunov stability theory and the passivity formalism. Numerical simulations are included to illustrate the performance and effectiveness of the proposed control scheme.