Single‐Master Bimanual‐Slaves Cooperative Teleoperation With Modified Damping Zeroing Neurodynamics

ABSTRACT This paper proposes a modified‐damping‐zeroing‐neurodynamics‐based single‐master bimanual‐slaves cooperative teleoperation system with autonomous orientation regulation and an efficient and operator‐friendly coordination strategy. The first contribution of this paper is to extend damping‐zeroing‐neurodynamics (DampZND) to orientation regulation and for the first time to integrate the model‐less modified DampZND to single‐master bimanual‐slaves teleoperation system. The second contribution is to propose a single‐master bimanual‐slaves cooperative teleoperation system to enable the operators to teleoperate bimanual‐slaves synchronously to achieve cooperative motion while operating a single‐master and monitoring a single slave. The effectiveness of the proposed bimanual teleoperation system has been demonstrated in simulation and experiment with respect to trajectory tracking, autonomous orientation regulation and coordination strategy.