Abstract
This paper presents a bilateral control method by state convergence for teleoperation systems where the master and slave robots do not necessarily have homothetic kinematics. This method uses a virtual robot to relate the kinematics of the master and slave robots. An application of this type of control is also presented in which a robot of three degrees of freedom is teleoperated by using a commercial haptic device with six degrees of freedom. © 2008 Springer-Verlag Berlin Heidelberg.
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CITATION STYLE
Peña, C., Aracil, R., & Saltaren, R. (2008). Teleoperation of a robot using a Haptic device with different kinematics. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5024 LNCS, pp. 181–186). https://doi.org/10.1007/978-3-540-69057-3_22
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