Abstract
This paper deals with a passive-decomposition based control a bilateral teleoperation between a single master robot and multiple cooperative slave robots with time varying delay At first. we decompose the dynamics of multiple slave robots into two decoupled dynamics by using passive-decomposition: the Shape-system describing dynamics of the cooperative works, and the Locked-system representing overall behavior of the multiple slave robots. Second, we propose the PD control method for bilateral teleoperation to guarantee the asymptotical stability of the system for time varying delay. Finally experimental results show the effectiveness of the proposed teleoperation.
