Abstract
In this paper, force-sensorless bilateral control methods for a master-slave system with different configurations are proposed. Two types of bilateral control architectures are presented. One is based on joint space control, and the other is based on work space control. This paper discusses the difference between these control methods from the viewpoint of motion behavior in the singular configuration. Finally, actual experimental results that confirm the validity of the proposed methods are shown.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
