Teleoperation with automatic posture regulation and broad learning control for assembly tasks

This study presents a robot teleoperation system for precise assembly tasks in unstructured environments. To enhance the robots’ flexibility, adaptability and safety, an automatic posture regulation strategy is employed. To improve the robots’ tracking accuracy and stability, a BLF-based joint controller and a BLNN-based adaptive torque controller are implemented. Additionally, we conducted a series of experiments and a comprehensive assembly task to validate the effectiveness of the proposed system (see Appendix E). In future work, we aim to enhance the posture regulation component, focusing on achieving continuous joint trajectories during obstacle avoidance in environments with multiple obstacles.