Teja Swaroop Tumapala

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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)
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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