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This paper presents a study on switching of control signals in multiple teleoperation systems. Teleoperation systems, in which human-operator sequentially controls several objects or properties via one master device, were described. Formalization of switching process and control signal distribution was done. Special switching controller was designed in order to implement proper switching between controlled objects and properties. Two application examples were presented. First, teleoperation of mobile platform with manipulator with switching control strategy has been analyzed. Control signal from human-operator was distributed between mobile platform and manipulator with the help of switching controller. Second, mobile robot teleoperation with combined speed and position control was described. Human-operator could switch between position and speed control of mobile robot. For both cases control laws were derived. The above described switching methods have been verified by simulation and experiment. Simulation of control signal distribution for mobile platform with manipulator was done. Experimental study for mobile robot teleoperation with combined speed and position control was performed. Designed switching controller allows proper distribution of control signals given by human-operator in systems with multiple objects and properties.
Farkhatdinov et al. (Tue,) studied this question.