Homography-Based Cooperative Teleoperation With Partial Pose Synchronization
提出一种基于无源性共享控制的多机器人遥操作系统，通过单应性方法融合视觉伺服与操作员输入，实现太空舱外装配任务的精确协作，并优化内力以增强稳定性。
This article presents a passivity-based shared control for a multirobot teleoperation system to perform extravehicular assembly tasks. At the remote site, an eye-in-hand camera is integrated with three manipulators that cooperatively drive a customized tool. A haptic device at the local site allows a human operator to intervene when necessary via bilateral teleoperation. To enable intuitive user control, a homography-based method seamlessly integrates visual servoing and operator input to guide the remote camera. To accommodate different peg geometries and enable adaptive tool actuation, a partial pose synchronization method decouples roll from the other pose dimensions. It allows each manipulator to independently actuate a gripper by rotating its end-effector frame around the roll axis, without interfering with cooperative motion in position, pitch, and yaw. In addition, to minimize undesired internal forces, we formulate and solve a passivity-constrained interaction wrench optimization problem that enhances stability. The proposed control ensures smooth transitions between autonomous and teleoperated modes, supporting flexible human intervention. Theoretical analysis and experimental validation confirm the system’s stability and effectiveness in achieving precise, robust, and responsive multirobot teleoperation for complex space assembly tasks.