Journal article
A Kinematic Control Framework for Single-Slave Asymmetric Teleoperation Systems
Abstract
This paper is concerned with asymmetrical teleoperation, where the master/slave subsystems have different degrees of mobility. In particular, dual-master trilateral control of a possibly kinematically redundant slave robot (KRSR) and single-master control of a kinematically deficient slave robot (KDSR) are considered. In the case of a KDSR, the motion of the master robot is restricted to the natural motion constraint of the slave robot. …
Authors
Malysz P; Sirouspour S
Journal
IEEE Transactions on Robotics, Vol. 27, No. 5, pp. 901–917
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 1, 2011
DOI
10.1109/tro.2011.2152950
ISSN
1552-3098