Quadratic Programming-Based Task Scaling for Safe and Passive Robot Arm Teleoperation

Ensuring the safety of a teleoperation system is crucial, and optimization-based control approaches are an effective solution to ensure that the robot satisfies the multiple safety constraints. However, the control input reshaping via optimization can make a system nonpassive. Therefore, this study proposes a new optimization method for ensuring both the safety and passivity of a teleoperation system by integrating it with the task scaling method. Additionally, the energy tank method is implemented to modulate the tradeoff between dissipativity and control performance. The experiments demonstrated that the proposed method ensures the safety and passivity of the teleoperated system for all robot configurations and any operator’s command inputs.