Bilateral Teleoperation Control of a Redundant Manipulator with an RCM Kinematic Constraint
Hang Su,Yunus Schmirander,Zhijun Li,Xuanyi Zhou,Giancarlo Ferrigno,Elena De Momi,Hang Su,Yunus Schmirander,Zhijun Li,Xuanyi Zhou,Giancarlo Ferrigno,Elena De Momi
In this paper, a bilateral teleoperation control of a serial robot manipulator, which guarantees a Remote Center of Motion (RCM) constraint in its kinematic level, is developed. A two-layered approach based on the energy tank model is proposed to achieve haptic feedback on the end effector with a pedal switch. The redundancy of the manipulator is exploited to maintain the RCM constraint using the ...
