Real-time adaptive control for haptic telemanipulation with Kalman active observers

Abstract

This paper discusses robotic telemanipulation with Kalman active observers and online stiffness estimation. Operational space techniques, feedback linearization, discrete state space methods, augmented states, and stochastic design are used to control a robotic manipulator with a haptic device. Stiffness estimation only based on force data (measured… (More)
DOI: 10.1109/TRO.2006.878787

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