Abstract
We study a simple teleoperator consisting of a single degree-of-freedom master and a two degree-of-freedom, macro-micro slave manipulator. Using an appropriate controller, the inertia and friction of the larger macro axis of the slave can be suppressed, thereby increasing the transparency of the teleoperator to the user. High-quality, stable, force-reflecting teleoperation is achieved with a 50:1 force scaling factor, without the use of explicit force sensing.
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© 2000 Springer-Verlag London Limited
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Madhani, A.J., Niemeyer, G., Salisbury, J.K. (2000). Macro-micro control to improve bilateral force-reflecting teleoperation. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119419
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DOI: https://doi.org/10.1007/BFb0119419
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Publisher Name: Springer, London
Print ISBN: 978-1-85233-210-5
Online ISBN: 978-1-84628-541-7
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