Advances in Telerobotics (Springer Tracts in Advanced by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio

By Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri, Carlos Balaguer

A desirable booklet that covers intimately all the most modern advances in Telerobotics. A must-read for scientists, researchers and scholars in teleoperation, it describes every thing from equipment and experimental effects to purposes and advancements. Its 3 sections disguise human procedure interfaces, regulate, and functions. The ebook is complemented via a truly important CD-ROM containing fifteen learn movies that support to deliver the fabric within the ebook to lifestyles.

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The potential for improvement of the dynamic properties is exceptionally large when dealing with redundant designs forming a macro/micro system comprised of a large (macro) robot carrying a small (micro) robot [29]. g. force/velocity transmission or acceleration capability. • Collision avoidance: Redundancies offer an increased potential for collision avoidance with the environment and human operator. This can for example be exploited for the prevention of user interference or link interference at dual-arm haptic devices.

IEEE Trans. on Robotics and Automation, 10(5):605-620, 1994. 37. A. Lawrence. Stability and Transparency in Bilateral Teleoperation. IEEE Trans. on Robotics and Automation, 9:624–637, 1993. de Summary. The design and control concept of a serial hyper-redundant haptic interface with 10 actuated degrees-of-freedom (DOF) is discussed. The main motivation for the redundant DOF is the avoidance of interior singularities to increase the workspace while reducing the overall device size. Furthermore, the wrist singularities are eliminated resulting in an orientation workspace of 360◦ around each axis.

7. Implementation of the master admittance inverse kinematics solution approaches has been proposed in the literature. An excellent discussion of the fundamental properties of standard techniques has been given by Wampler [27]. The current implementation of the ViSHaRD10 inverse kinematics employs a combination of the inverse function approach for the translational degrees of freedom and Pseudoinverse control as proposed by Liegeois [40] for the rotational motion. Alternative techniques along with simulation experiments for performance comparison are presented in [41].

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