Journal of Astronautics ›› 2018, Vol. 39 ›› Issue (1): 104-110.doi: 10.3873/j.issn.1000-1328.2018.01.014

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A Shared Control Architecture for Dual Arm Cooperating Teleoperation

HUANG Pan feng, LU Zhen yu, DANG Xiao peng, LIU Zheng xiong   

  1. 1. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China;
    2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an 710072, China;
    3. The 41st Institute, the 4th Academy, China Aerospace Science and Technology Corporation, Xi’an 710025, China
  • Received:2017-03-24 Revised:2017-10-10 Online:2018-01-15 Published:2018-01-25


For the delicate teleoperation task of the dual-arm space robot, a novel shared control method for the cooperative tasks is proposed, which is based on the traditional four-channel bilateral control architecture and the shared control method. Adding multiple dominant factors to the controllers in the master and slave side, a double closed-loop feedback loop, containing the information of force and position is built. By adjusting the shared control factors, the master operator can receive and share operation intentions with other operators. A space teleoperation experiment is conducted by CHAI 3D. Comparing with the two cases that single operator operates a dual-arm space robot and two operators handle one of the space robot arms respectively, the experimental results show that the proposed algorithm can improve the accuracy of operation and reduce the frequency of collision, thereby making the efficiency of the teleoperation task enhanced.

Key words: Teleoperation, Dual arm space robot, Shared control method, Dominant factor

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