Kinematic mapping and control scheme design of telemanipulation systems
The thesis presents the work in the area of telemanipulation. The first part proposes a virtual circle mapping method for master-slave hand systems, and the second part presents a two-channel bilateral controller. Simulations and experiments are conducted to validate the methods and schemes.
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| Format: | Thesis |
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2008
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| Online Access: | https://hdl.handle.net/10356/5273 |