Safety-Aware Shared Control for Teleoperated Robotic Precision Tasks Under Dynamic Interference

Abstract

This study presents a safety-aware shared control strategy that combines proximity sensing and force guidance to achieve precise and stable teleoperation under dynamic interference. Based on the sensing information of the proximity sensor, a safety-aware controller is designed to enable the manipulator to anticipate and respond to potential collisions in its surroundings while ensuring precise task execution. By incorporating a prior-to-contact reaction strategy into the safety-aware controller, the manipulator can switch to a compliant mode, safely and effectively reacting to inevitable collisions, thereby mitigating the collision impact. Additionally, a force-constrained controller is integrated into the shared control strategy to enable stable movement by providing the operator with force guidance through haptic devices. The effectiveness and feasibility of this strategy are validated through experiments, which involve circular motion tracking and needle threading tasks under dynamic random interference. Compared to conventional teleoperation approaches that lack an active safety strategy or force guidance, the proposed strategy outperforms in reducing contact force by up to 78.81% while improving target tracking accuracy by up to 66.91%. The proposed strategy also enhances the stability of task execution under dynamic interference.