一种基于共享控制的双臂协同遥操作控制方法

针对双臂空间机器人精细操作任务，提出一种双臂协同遥操作共享控制方法。该方法将传统的遥操作四通道控制结构与共享控制相结合，通过在主从端控制器中加入优势因子，实现操作者与机器人左右操作手力和位置信息的双闭环反馈回路，并通过调节优势因子使主端的操作者对从端机械臂具有不同的控制权重，且主端操作者在协同操作时可以感受到对方的操作意图。通过CHAI 3D搭建的实验平台设计典型空间操作实验，并与单个操作者单独进行双手操作和双操作者分别操作单机械臂的情况对比。实验结果表明，本算法操作精度和效率较高，操作中的碰撞次数较少。

A Shared Control Architecture for Dual Arm Cooperating Teleoperation

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.