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Kinematically redundant robotic manipulators (KRRM) can provide a great degree of flexibility for working in complex unstructured environments. Teleoperation control of KRRM requires a strategy to resolve the redundancy of the slave robot while achieving transparency in the task space. In this paper, a two-master control approach is proposed in which the first master transparently controls the redundant...
A parallel force and motion control algorithm using observed velocity is presented in this paper. Experimental results show improved control performance in both force and motion subspaces compared with the same controller using filtered velocity.
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