A Passivity-based Decomposing Method for Operational Space Control of Kinematical Redundant Tele-operation Systems

In the passivity-based decomposing method, a bilateral tele-operation system is virtually decomposed into 2 sub-systems (shape/locked) to ensure coordination between the master and slave robots and to provide a general referenced motion of the closed-loop bilateral tele-operation along with the passivity of the master and slave robots. So far, the passivitybased decomposing methods in the literature have been studied only for the joint-space control of tele-operation systems with kinematical similar master and slave robots. In this study, a passivity-based decomposing method is proposed for operational space control of bilateral teleoperation systems with kinematic redundancy in the slave robot. The main objectives of the proposed method are to ensure operational space coordination between the robots' end-effector trajectories and to achieve a referenced general movement of the closed-loop tele-operation system. In addition, the kinematic redundancy of the slave robot, which usually complicates the control problem, is turned into an advantage, and secondary tasks are designed for the slave robot. Moreover, experiments are carried out to validate the achievement of the proposed method using a kinematical redundant tele-operation setup.