Bilateral Teleoperation Control of a Redundant Manipulator with an RCM Kinematic Constraint.
Hang SuYunus SchmiranderZhijun LiXuanyi ZhouGiancarlo FerrignoElena De MomiPublished in: ICRA (2020)
Keyphrases
- end effector
- degrees of freedom
- robotic arm
- robotic manipulator
- master slave
- inverse kinematics
- control system
- parallel manipulator
- robot manipulators
- control method
- force feedback
- visual servoing
- robot arm
- vision system
- wheeled mobile robots
- computer controlled
- control scheme
- control strategy
- human operators
- closed loop
- joint space
- control strategies
- constraint networks
- linear constraints
- augmented reality
- dynamic environments
- force control
- real time
- kinematic model
- soft constraints