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In this paper, a four degree of freedom commercial robot manipulator is transformed and simplified into a two degree of freedom planar manipulator in order to verify different types of control algorithms without the need to consider redundancy. Due to the property of high back-drivability of this manipulator, it has been designed without joint brakes or(More)
Telemanipulation concerns manual operation of a device from a remote location through suitable communication links. In haptics, the communication link is two-way with force feedback from the manipulated object to the human operator. This paper presents a new application of telemanipulation, as used in homecare robotics. For the specific application, a(More)