Design and Control of a Force-Re ecting Teleoperation System with Magnetically Levitated Master and Wrist


|A new approach to the design of teleoperation systems is presented. It is proposed that the teleoperation slave be a coarsene manipulator with a ne-motion wrist identical to the teleoperation master. By using a combination of position and rate control, such a system would require only small operator hand motions but would provide low mechanical impedance… (More)


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