Restricted Jacobian matrices of redundant manipulators in constrained motion tasks
International Journal of Robotics Research
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Presence: Teleoperators and Virtual Environments
A Haptic Teleoperation Approach Based on Contact Force Control
International Journal of Robotics Research
Adaptive Control for Improved Transparency in Haptic Simulations
IEEE Transactions on Haptics
Adaptive/robust control for time-delay teleoperation
IEEE Transactions on Robotics
Control of Redundant Robot Manipulators: Theory and Experiments
Control of Redundant Robot Manipulators: Theory and Experiments
Dual-master teleoperation control of kinematically redundant robotic slave manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Development of a Multi-modal Multi-user Telepresence and Teleaction System
International Journal of Robotics Research
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Modeling and control of cooperative teleoperation systems
IEEE Transactions on Robotics
Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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Teleoperation control of kinematically redundant robots requires a strategy for resolving their redundancy. A trilateral two-master/one-slave control approach is proposed for delay-free applications in which the first master controls a primary task control frame, e.g. the slave end-effector frame; meanwhile, another master device can manipulate a secondary task frame attached to the slave robot, e.g. to avoid collision with obstacles in the task environment. Any remaining degrees of motion are resolved autonomously. Teleoperation control is achieved in three steps employing joint-space Lyapunov-based adaptive motion/force controllers, a velocity-level redundancy resolution method, and task-space coordinating reference commands. Priority can be given to either the primary or secondary control frame so that the high-priority task can be transparently carried out without interference from the other task. Whenever applicable, the lower-priority task control frame would be restricted to the natural constraints imposed by prioritization or otherwise, decoupling between the tasks is achieved with the use of an arbitrarily weighted pseudo-inverse. Experiments with a planar teleoperation system consisting of two master devices controlling a closed-chain four degree-of-motion redundant slave robot show the feasibility of the approach.