Combined Active and Passive Variable Admittance Compliant Control for Teleoperation Robotic Systems

This paper develops a combined active and passive variable admittance compliant control algorithm for teleoperation robotic systems. We have devised a novel combined active and passive variable admittance control structure for teleoperation robotic systems, which consists of the following components to fulfill compliance and efficiency requirements. Initially, we have designed a variable scaling workspace mapping for teleoperation robotic system to achieve efficient and accurate mapping with different speeds. Then, we have devised an active admittance algorithm to enable swift movements of the slave robot, allowing it to attain higher velocities while preserving compliance. Subsequently, to address the potential occurrence of unexpected rigid collisions during robot motion, we have devised a passive variable admittance control algorithm. Furthermore, we have proposed an active variable admittance control algorithm for maintaining a constant force output in the robot, which is designed based on the Lyapunov theory. Eventually, we have conducted comparative experiments to demonstrate the effectiveness and improved performance of the proposed algorithm.