Design and control of a force-reflecting teleoperation system with magnetically levitated master and wrist
- 1 January 1995
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 11 (6) , 844-858
- https://doi.org/10.1109/70.478431
Abstract
A new approach to the design of teleoperationsystems is presented. It is proposed that the teleoperationslave be a coarse-#ne manipulator with a #ne-motion wristidentical to the teleoperation master. By using a combinationof position and rate control, such a system wouldrequire only small operator hand motions but would providelow mechanical impedance, high motion resolution andforce feedbackover a substantial volume.A new teleoperation system, consisting of a conventionalmanipulator...Keywords
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