Dr. SHEN HenghuaPan, Ya-JunYa-JunPanWan, LucasLucasWan2026-09-102026-09-102021Shen, H., Pan, Y. J., & Wan, L. (2021). Teleoperated single-master-multiple-slave system for cooperative manipulations in task space. In IEEE (Ed.). The proceedings of 2021 4th IEEE international conference on industrial cyber-physical systems (ICPS). 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), Victoria, BC, Canada (pp. 864-869). IEEE.97817281620729781665430456http://hdl.handle.net/20.500.11861/29389In this paper, the framework of a single-master-multiple-slave nonlinear manipulator system is proposed for the remote regulation of cooperative tasks. To simultaneously implement both the teleoperation and the cooperation in the presence of time-varying delays, external disturbances and modelling uncertainties, an adaptive non-singular terminal sliding-mode (ANTSM) method is used. Through a wrench-prediction-based reference model, the master controller can be designed as a motion controller while considering the environmental wrench feedback. Additionally, as the full pose motion regulation is considered, an optimized load distribution method is used for the load allocation in 6 degrees of freedom (DOFs) and to compensate for the additional internal torque. Simulation results of a team of 3-DOF Phantom Omni haptic devices show that the designed controllers can ensure that the tracking errors are bounded and the resultant overall multi-manipulator system is stable.enUse Of SystemsExternal DisturbancesTracking ErrorLoad DistributionTime-Varying DelaysMaster ControllerAdditional TorqueCenter Of MassMultiple UsersReference SignalGeneral ExpressionJoint SpaceCooperative ControlRelative DisplacementEnd-EffectorCoordinate FrameMotion TrackingChannel NetworkMass Of The ObjectNetwork DelayUnit QuaternionPose TrackingConference Paper10.1109/ICPS49255.2021.9468222