Control of a teleoperator system with redundancy based on passivity conditions

Ways a stiffness controller can be used to control a teleoperator system with a redundant degree-of-freedom (DOF) slave manipulator and a dissimilar master are examined. No path planning is allowed because of the uncertainty of the environment and computational limitations. The proposed controller was implemented on the 7-DOF Center for Engineering Systems Advanced Research Manipulator slave manipulator with a 6-DOF Kraft master manipulator. The overall performance of this scheme and future directions are discussed.<
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