A REVIEW OF TELEOPERATION SYSTEM CONTROL

This work presents a survey of control methods applied to teleoperation systems. Although the topic is kept general, emphasis in the review is placed on force-reflecting manual controllers, which experience time delays, and suffer stability problems. Various theoretical and experimental methods that have been developed over the years are presented and the more promising ones are outlined for further study, and development of efficient, real-time control software, which is the ultimate goal of the current work.

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