Conference
Dual-master Teleoperation Control of Kinematically Redundant Robotic Slave Manipulators
Abstract
Kinematically redundant robotic manipulators (KRRM) can provide a great degree of flexibility for working in complex unstructured environments. Teleoperation control of KRRM requires a strategy to resolve the redundancy of the slave robot while achieving transparency in the task space. In this paper, a two-master control approach is proposed in which the first master transparently controls the redundant slave end-effector in the task space, …
Authors
Malysz P; Sirouspour S
Pagination
pp. 5115-5120
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 1, 2009
DOI
10.1109/iros.2009.5354333
Name of conference
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems