Virtual force feedback in teleoperation for enhanced manipulator performance

Zainan Jiang
Zainan Jiang
Xiaoyu Zhao
Xiaoyu Zhao
Chongyang Li
Chongyang Li

RCAR, pp. 511-516, 2017.

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Abstract:

In master-slave teleoperation, slave manipulator can be easily led to low-performance configurations when the structures of master and slave manipulators are dissimilar. To amend the problem, a novel method based on virtual force feedback is proposed. Local Conditioning Index and Joint Range Availability are revised and adopted for a bett...More

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