This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-body control as it allows for some of the tasks to be commanded by a remotely-located human operator through a haptic device while the others are autonomously performed. The operator is able to switch among tasks at any time without compromising the stability of the system. To enforce the passivity of the communication channel as well as to dissipate the energy generated by the null-space projectors used to enforce the hierarchy among the tasks, the Time-Domain Passivity Approach (TDPA) is applied. The efficacy of the approach is demonstrated through its application to the DLR Suspended Aerial Manipulator (SAM) in a real telemanipulation scenario with variable time delay, jitter, and package loss.

本文介绍了一种基于无源性的控制框架，用于多任务时滞双边遥操作和运动冗余机器人的共享控制。所提出的方法可以看作是对现有技术的分层全身控制的扩展，因为它允许远程操作人员通过触觉设备来命令某些任务，而其他任务则可以自动执行。操作员可以随时在任务之间切换，而不会影响系统的稳定性。为了增强通信通道的被动性，并消散用于强制执行任务之间层次结构的零空间投影仪所产生的能量，采用了时域被动性方法（TDPA）。