Kim, Keehoon Chung, Wan Kyun Cavusoglu, M. Cenk 2024-01-19T12:39:32Z 2024-01-19T12:39:32Z 2022-03-07 2010 1050-4729 https://pubs.kist.re.kr/handle/201004/115766 In bilateral teleoperation system, conventional position sensor based force reflection method, known as position error feedback, may generate inaccurate force reflection directions, when motion of a slave robot is constrained by unexpected obstacles and link collisions. Restriction Space Projection method is a novel position sensor based force reflection framework that was proposed to address this issue. It provides accurate force reflection in unstructured environments when motion of a slave robot is constrained by unexpected obstacles and link collisions, regardless of kinematic dissimilarity between the master and slave manipulators of the bilateral teleoperation system. This paper discusses the applications and limitations of the Restriction Space Projection method through examples. English IEEE Restriction Space Projection Method for Position Sensor Based Force Reflection of Multi Degrees-of-Freedom Bilateral Teleoperation Systems in Unstructured Environments Conference 10.1109/ROBOT.2010.5509448 1 IEEE International Conference on Robotics and Automation (ICRA), pp.5364 - 5369 IEEE International Conference on Robotics and Automation (ICRA) 5364 5369 US Anchorage, AK 2010-05-03 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 000284150002031 2-s2.0-77955794702 Proceedings Paper