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When a large robot manipulator is remotely controlled by means of a small haptic device, there are two issues which should be addressed: mapping of robot arm workspace and haptic device workspace, and accurate and safe control of the movement of the robot arm. This paper presents a haptic device workspace spanning control method for haptic-based teleoperation. The spanning control method includes...
Steel bridges are vulnerable to corrosion and their surfaces have to be de-rusted and repainted regularly. Since the process is complicated, expensive and the removed paints are harmful to human workerspsila health; the use of an automatic robotic system would be an attractive alternative. This paper presents an approach for planning paths for a robotic arm used in the sand-blasting operation. A hexagonal...
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