Surendra Singh Saini

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In a Master Slave Servo Manipulator system, a human operator manipulates a remote environment (a hotcell) with a Slave manipulator through a kinematically similar Master arm located in the control room, as the Slave manipulator follows the motions of the Master. In such a scenario, where the actual work environment is separated from the operator,(More)
In master slave manipulator, slave arm is controlled by an operator to manipulate the objects in remote environment using an iso-kinematic master arm which is located in the control room. In such a scenario, where the actual work environment is separated from the operator, formulation of techniques for assisting the operator to execute constrained motion(More)
Master Slave Servo Manipulators are used to handle highly radioactive and hazardous substances. These operations require a delicate and dexterous control e.g. in handling radioactive isotopes irradiated in tray rod facilities of high flux research reactors. To achieve a dexterous man-in-the-loop control, the interaction forces of slave arm with the(More)
Compliance control is essential for tasks involving interaction of the robot with the environment with contact forces e.g. sliding on an inclined plane, drawing on a rigid surface, opening the lid of a box etc. Pure position control is not sufficient for such tasks since a small variation in relative position at the contact surface may generate large(More)
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