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arXiv · 2610.29565

Preserving Operator Intent Under Actuation Constraints: Teleoperation of Manipulators with Coupled Transmissions

Xuhan Miao·Zijin Han·Yutong Shen·Haidong Huang·Shanliushui Gao·Lei Zhang·Xiaocong Li·Chenguang Yang
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Abstract

Teleoperation enables intuitive control of remote engineering robots for precision tasks. Existing direct joint-mapping methods have two limitations: independent motor saturation disrupts pitch-roll coordination in differential wrists, while fixed mappings struggle with abrupt tracking changes caused by gravitational loads and actuation constraints. We propose an actuator-constraint-aware leader-follower teleoperation method that jointly models leader gravity compensation, leader-follower joint mapping, and follower differential-wrist control. Specifically, we perform coordinated saturation in motor space according to the available gravity margin and integrate continuous angle unwrapping, feedback-state monitoring, and feasible-reference updates. This preserves the operator's motion direction, reduces coordination distortion, and suppresses recovery transients during saturation or brief communication failures. Real-robot experiments demonstrate smoother wrist trajectories and more continuous recovery than direct mapping.

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Xuhan Miao, Zijin Han, Yutong Shen, Haidong Huang, Shanliushui Gao, Lei Zhang, Xiaocong Li, Chenguang Yang. 2026-10-21. Preserving Operator Intent Under Actuation Constraints: Teleoperation of Manipulators with Coupled Transmissions. https://arxiv.org/abs/2610.29565

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