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Enhanced transparency dual-user shared control teleoperation architecture with multiple adaptive dominance factors

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  • Robot and Applications
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Abstract

In traditional dual-user shared control teleoperation, the users’ operational transparency is influenced by the dominance factorα. Especially when α = 1 and α = 0 the trainer or trainee cannot receive any information form the slave side. For enlarging the control flexibility and enhancing the system transparency, a novel method with multiple adaptive dominance factors is proposed in this paper. An ideal application of this method is on-line operation and supervision. The supervisor and operator can adjust the factors and switch the operation roles and states freely. Once the slave robot handled by the operator diverges from the planned path, the dominance factors will change adaptive to limit the operator’s movement. The adaptive principles are concluded from the dynamic performance measured by the measuring functions. The conclusions suggest that the varying range of the system dynamic performance is wider than the traditional method. In addition, considering the time delays between the slave and master sides, we proved the system stability conditions covering all the range of dominance factors. Finally, we make a discussion of the applying area of the novel shared control architecture.

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Authors and Affiliations

  1. Research Center for Intelligent Robotics, School of Astronautics and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, 127 West Youyi Road, Xi’an, Shanxi Province, P. R. China

    Zhenyu Lu, Panfeng Huang, Pei Dai, Zhengxiong Liu & Zhongjie Meng

Authors
  1. Zhenyu Lu
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  2. Panfeng Huang
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  3. Pei Dai
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  4. Zhengxiong Liu
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  5. Zhongjie Meng
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Corresponding author

Correspondence to Panfeng Huang.

Additional information

Recommended by Associate Editor Jun Yoneyama under the direction of Editor Myo Taeg Lim. This work was supported by Natural Science and the National Nature Science Foundation of China (Grant No. 11272256,61005062).

Zhenyu Lu received his B.S. and M.S. degrees from China University of Mining and Technology and Shenyang Aerosapce University, in 2010 and 2012, respectively. He is currently a Ph.D. candidate of School of Astronautics, Northwestern Polytechnical University. His research interests include Space Teleoperation, Man-Robotics Interaction and system identification.

Panfeng Huang received his B.S. and M.S. degrees from Northwestern Polytechnical University, in 1998 and 2001, respectively, and his Ph.D. degree from the Chinese University of Hong Kong in the area of Automation and Robotics in 2005. He is currently a Professor of School of Astronautics and Vice Director of Research Center for Intelligent Robotics at the Northwestern Polytechnical University. His research interests include modeling, kinematics, dynamics, trajectory planning, and control of space robots.

Pei Dai received his B.S. degree in detection guidance and control engineering from Northwestern Polytechnical University, Xi’an, China, in 2014. He is currently a graduate student in Research Center of Intelligent Robot, Northwestern Polytechnical University. His research interests include teleoperation and human-computer interaction.

Zhengxiong Liu received his Ph.D. degree from Northwestern Plolytechnical University in 2012. He is currently a lecturer at the School of Astronautics, Northwestern Polytechnical University, China. His research interests include Space Teleoperation, Multi-body Dynamics, and Man-Machine Interaction.

Zhongjie Meng received his Ph.D. degree from Northwestern Polytechnical University in 2010. He is currently an associate professor at the School of Astronautics, Northwestern Polytechnical University, China. His research interests include dynamics and control of tethered space robots, and intelligent spacecraft system.

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Lu, Z., Huang, P., Dai, P. et al. Enhanced transparency dual-user shared control teleoperation architecture with multiple adaptive dominance factors. Int. J. Control Autom. Syst. 15, 2301–2312 (2017). https://doi.org/10.1007/s12555-016-0467-y

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  • DOI: https://doi.org/10.1007/s12555-016-0467-y

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