Dual-master teleoperation control of kinematically redundant robotic slave manipulators
Bibliographic record
Abstract
Kinematically redundant robotic manipulators (KRRM) can provide a great degree of flexibility for working in complex unstructured environments. Teleoperation control of KRRM requires a strategy to resolve the redundancy of the slave robot while achieving transparency in the task space. In this paper, a two-master control approach is proposed in which the first master transparently controls the redundant slave end-effector in the task space, denoted as the primary task. Meanwhile, a second master exploits the slave redundancy to perform a secondary task such as obstacle avoidance or internal position control. Kinematic redundancy is considered for the slave robot and the traditional autonomous null-space control approach is also accommodated. Teleoperation control is achieved in two steps. First, velocity-level redundancy resolution is attained through new joint-space Lyapunov-based adaptive motion/force controllers. Coordinating reference commands for the joint-space controllers are designed to give priority to the primary task and decoupling between the tasks is achieved without the use of a dynamically consistent pseudo-inverse. Experimental results with two identical planar two-degree-of-freedom master devices controlling a simulated four-degree-of-freedom redundant slave robot show the effectiveness of the approach.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".