Preserving Operator Intent Under Actuation Constraints: Teleoperation of Manipulators with Coupled Transmissions

Key points

• Teleoperation enables intuitive control of remote engineering robots for precision tasks.1
• Existing direct joint-mapping methods have two limitations: independent motor saturation disrupts pitch-roll coordination in differential wrists, while fixed mappings struggle with abrupt tracking changes caused by gravitational loads and actuation constraints.1
• Specifically, we perform coordinated saturation in motor space according to the available gravity margin and integrate continuous angle unwrapping, feedback-state monitoring, and feasible-reference updates.1
• Real-robot experiments demonstrate smoother wrist trajectories and more continuous recovery than direct mapping.1

Sources (1)

• [1]Preserving Operator Intent Under Actuation Constraints: Teleoperation of Manipulators with Coupled Transmissions
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 21, 10:55 AM

  We propose an actuator-constraint-aware leader-follower teleoperation method that jointly models leader gravity compensation, leader-follower joint mapping, and follower differential-wrist control.

  Teleoperation enables intuitive control of remote engineering robots for precision tasks.

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