In this paper, a teleoperation controller is proposed for a pair of nonlinear master and slave manipulators. The control law enables the nonlinear robots to be perfectly coordinate...
— In applications such as space and surgical robotics, the use of thin, lightweight manipulators and cable-driven endeffectors results in flexibility of the manipulator. In bila...
Abstract— In a companion paper [1], we propose a control framework for the bilateral teleoperation between a single master robot and multiple cooperative slave robots over delaye...
Dongjun Lee, Oscar Martinez-Palafox, Mark W. Spong
— In order to provide improved convenience for a surgeon in spinal fusion surgery, a robot system should i) closely engage in surgeon’s operation using an end effector, and ii)...
Keehoon Kim, Jongwon Lee, Wan Kyun Chung, Seungmoo...
Abstract— We propose a control framework for the bilateral teleoperation between a single master robot and multiple cooperative slave robots with communication-delay in the maste...