CONICET | Buscador de Institutos y Recursos Humanos

? This paper analyzes the stability of a trilateralteleoperation system of a mobile robot. The dynamics of twomanipulator-like masters and mobile robot as well as timevaryingand asymmetric delays are taken into account. A set ofP+d controllers is included into the delayed teleoperationsystem. From the analysis performed, a procedure to set thecontrol parameters is proposed in order to assure the stabilityof the whole system. Finally, the theoretical result is verified inpractice by means of a simple test about delayed trilateralteleoperation system, where two human operators bothcollaboratively and simultaneously drive a 3D simulator of amobile robot to achieve an established task on a remoteenvironment.