Teleoperation of a manipulator with a master robot of different kinematics: Using bilateral control by state convergence

Abstract:

This paper presents the teleoperation method of manipulators which have different kinematics with respect of the master robots using bilateral control by state convergence. This method makes a relation between the kinematics of the master and slave robot using a virtual robot. This method allows controlling manipulators which are a part of different kinds of robot as: climber robots, underwater robots, human robots, etc. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.

Año de publicación:

2008

Keywords:

• Robot Control
• Telerobotic
• Robotic manipulators
• Haptic

Fuente:

scopus