A Compliant Partitioned Shared Control Strategy for an Orbital Robot

In this letter, a novel partitioned shared controller is proposed, which exploits fully-actuated orbital robot to perform primary end-effector task involving environmental interactions. This remotely performed using bilateral teleoperation controller, while secondary automatically controlled in situ for operational safety manner. particular, the proposed method derived as modified 4-Channel architecture. The robot's momentum and shape (joints) dynamics are exploited benefit design. Asymptotic stability finite-gain L 2 -stability proved absence presence of external interactions, respectively. Furthermore, validated experimentally on hardware-in-the-loop facility.