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Operation of Redundant Telemanipulators

E. Dupuis, V. Hayward, E. G. Papadopoulos Redundant manipulators are increasingly used for their greater capabilities but entail greater complexity in their control since the end effector trajectory must be controlled together with their self motions. In direct teleoperation an operator cannot control simultaneously all the degrees of freedom. The traditional approach is to solve a redundancy resolution problem autonomously. For applications such as space robotics or other unstructured environments, this approach is not suitable due to the multiplicity of constraints. A generalized framework for the operation of manipulators with more degrees of freedom than an operator can control simultaneously is being developed.

Thierry Baron
Mon Apr 7 12:54:24 EDT 1997