The Predictive Kinematic Control Tree: Enhancing Teleoperation of Redundant Robots through Probabilistic User Models
Connor Brooks,Daniel Szafir,Connor Brooks,Daniel Szafir
When teleoperating complex robotic manipula-tors, operators often find it most natural to issue commands that dictate end effector movements in task space. If the robot has redundant degrees of freedom, the translation of this com-mand from task space into configuration space can affect the robot's maneuverability, smoothness of motion, and the general precision of the teleoperated system. In this...
