In this research, robotic tele-collaboration using a network with communication time delay was discussed. Recently, collaboration tasks have rapidly emerged in many possible applications such as plant maintenance and telesurgery, because multi-robot collaboration can have a significant advantage over a single robot in such cases. Problems and several noticeable results have been reported in a single teleoperation system. However, the effect of time-delay would pose a more difficult problem to the tele-collaboration and seriously affect its performance. In this work, first, some of the constraint on performance in multiple teleoperation applications was examined. Then, the time-delay effects on the collaboration were investigated through several experimental studies. Finally, a method to cope with the time-delay in multiple teleoperation systems was proposed exploiting the virtual thickness modification scheme.

Fig: Tele-Operation

Fig: Operator