A Sensorless Virtual Slave Control Scheme for Kinematically Disslimilar Master-Slave Teleoperation

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Scientific Essay from the year 2012 in the subject Engineering - Robotics, Universidad Politécnica de Madrid, language: English, abstract: This paper is organised as follows: section 2 summarises the remote handling issues in the design of control rooms for teleoperating dissimilar master-slave bilateral systems, section 3 covers the radiation tolerance of robotics systems with special attention to force sensors, in section 4 the sensorless virtual slave architecture is explained and the theory behind the sensorless force feedback is discussed. Section 5 details the experimental equipment use...