Force-Torque Interpretation In Intermediary Telepresence For Remote Manipulation
نویسندگان
چکیده
The paper presents force-torque interpretations in intermediary telepresence for remote manipulation. Methods of reconstruction of force-torque data and algorithms to depict contact forces are presented in this paper. Real time force trajectory, the accuracy of the force trajectory and the state of the remote site in terms of wrench state are also described. In addition, options to take corrective steps in case of remote manipulator malfunction or unforeseen forces acting on the environment are discussed. Experiments are conducted to demonstrate the contact perception of remote manipulation tasks. Keywords— force-torque interpretation, force trajectory, contact perception, force
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