Asymmetric dual-user shared control method and its performance analysis for space teleoperation

The technique of multi-master multi-salve teleoperation is one of future space teleoperation tendencies. After summarizing the current studies about dual-master single slave teleoperation control mode, we propose a kind of asymmetric dual-user shared teleoperation method for space manipulation. Firstly, we analyze the ideal transparency of dual-user teleoperation, discriminate the difference of multi-dominant parameters and build the model of asymmetric dual-user teleoperation system under the influence of delay. Then the functions of transparency transfer, range of achievable impedance, performance distance and transmitted impedance rate are built to compare and analyze the influence of dominant parameters, control impedance and environment impedance to the kinesthetic performance of dual-user teleoperation. Finally, the simulations and experiments are taken to certify the effectiveness of the proposed method. The simulation results represent that the transparency and the anti-delay performance of the asymmetric dual-user shared control method are better than the traditional method.