1A1-B20 An Implementation of Multi-robot Micromanipulation System over Delayed Network

Abstract

A Control Strategy for Multi-robot Tele-micromanipulation over delayed network is described. In this paper, several simulations and semi-experiments(i.e. real master and simulated slaves) are performed to prove the validity of the proposed control scheme and tele-micro design methodology. We first decompose the dynamics of multiple slaves into two decoupled systems which are the shape system describing cooperative tweezing aspect and the locked system while preserving energetic passivity. Scattering based communication is used to passify the master-slave communication delay.