TELEOPERATION OF A MANIPULATOR WITH A MASTER ROBOT OF DIFFERENT KINEMATICS: USING BILATERAL CONTROL BY STATE CONVERGENCE

This paper presents the teleoperation method of manipulators which have different kinematics with respect of the master robots using bilateral control by state convergence. This method makes a relation between the kinematics of the master and slave robot using a virtual robot. This method allows controlling manipulators which are a part of different kinds of robot as: climber robots, underwater robots, human robots, etc.