Robotic telemanipulation systems: an overview on control aspects

Abstract Teleoperation systems have been among the first applications of the robotic technology, mainly because of the interest for the nuclear research back in the 50's. Since then, dramatic developments have been achieved, both from the technological point of view (materials, computers, possibility of building miniaturized devices, …) and from the theoretical one. In this paper, attention is given in particular to the control aspects, and an overview on the main schemes that have been presented in the literature is presented, suggesting some criteria for their analysis and comparison.

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