An evaluation of position and orientation increment methods for teleoperation

Discusses two schemes to increment position and orientation for generalized bilateral control in teleoperation. The authors refer to these schemes as “relative increment method” and “absolute increment method”. “Relative increment method” uses the master end-effector´s velocity to determine the slave end-effector´s position and orientation. “Absolute increment method” maps the master end-effector´s position and orientation with respect to some fixed coordinate frame to the slave end-effector´s position and orientation. The key points to be discussed are the equations required for both schemes, and their advantages and disadvantages