Auxiliary Asymmetric Dual-user Shared Control Method for Teleoperation

Inspired by dual-user shared control method, a kind of auxiliary asymmetric shared control method for teleoperation is proposed in this paper. Firstly, we model the architecture for asymmetric shared control method, which contains three dominance factors with more flexibility and better transparency. In addition, we conclude some properties for asymmetric shared control architecture by defining some kinesthetic performance functions and present system stability conditions. Then we found a special dual-user operation scene-master 1 controls the slave robot alone and master 2 provides protection for master 1's operation. An auxiliary asymmetric shared control method is build considering the distance and velocity difference limits of the masters and adaptive dominance factors. In the end, two simulations are taken to certify the effectiveness of the proposed method. The simulation results show that though the force generated by protection actions influence the system transparency when the slave works in warning operation area, the auxiliary method has little influence to system kinesthetic performance.