Method for Controlling Master-Slave Robots using Switching and Elastic Elements

Abstract

A new type of master-slave control methodology, which has the merits of both unilateral and bilateral ones, is proposed. The methodology is built on switching the unilateral feedback controls of position and force as required using switching and elastic elements. Proposed methodology not only eliminates the demerits of bilateral control, but also supplies… (More)
DOI: 10.1109/ROBOT.2002.1014789

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