Development of a high-performance haptic telemanipulation system with dissimilar kinematics

@article{Stanczyk2006DevelopmentOA,
  title={Development of a high-performance haptic telemanipulation system with dissimilar kinematics},
  author={Bartlomiej Stanczyk and Angelika Peer and Martin Buss},
  journal={Advanced Robotics},
  year={2006},
  volume={20},
  pages={1303 - 1320}
}
This work addresses selected practical issues regarding the development of a telerobotic system for 6-d.o.f. tasks. The system consists of a hyper-redundant 10-d.o.f. haptic input device ViSHaRD10, a redundant 7-d.o.f. manipulator and a stereo vision system. The redundancy of the haptic input device is exploited to assure large convex workspaces and singularity-free operation. The anthropomorphic construction of the telemanipulator enables intuitive manipulation and increases the user… 

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