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Theoretical and experimental overview of bilateral teleoperation control laws

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3 Author(s)
Nicolas Marcassus ; IRCCyN, UMR CNRS 6597, Universit de Nantes, École Centrale de Nantes, 1 rue de la No, BP 92101, 44321 Nantes Cedex 3, ; Abdelhamid Chriette ; Maxime Gautier

This paper presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality of the haptic feedback

Published in:

2006 14th Mediterranean Conference on Control and Automation

Date of Conference:

28-30 June 2006