Title :
Properties of master/slave manipulators
Author_Institution :
Laboratoire de Robotique Industrielle, Evry, France
Abstract :
The letter deals with the behaviour of master/slave systems in equilibrium. Nonlinear properties of similar or dissimilar telemanipulators are found by introducing a differential receiprocity concept.
Keywords :
control system analysis; feedback; industrial robots; nonlinear control systems; position control; telecontrol; differential reciprocity concept; feedback loop; master/slave manipulators; nonlinear properties; position control; telemanipulators;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:19860696
