Kapadia, Apoorva D.Walker, Ian D.Tatlıcıoğlu, Enver03.05. Department of Electrical and Electronics Engineering03. Faculty of Engineering01. Izmir Institute of Technology2017-03-222017-03-222012Kapadia, A. D., Walker, I. D., and Tatlıcıoğlu, E. (2012, October 7-12). Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master. Paper presented at the 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems. doi:10.1109/IROS.2012.638599097814673173752153-0858http://doi.org/10.1109/IROS.2012.6385990https://hdl.handle.net/11147/512125th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012; Vilamoura, Algarve; Portugal; 7 October 2012 through 12 October 2012In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask. © 2012 IEEE.eninfo:eu-repo/semantics/openAccessManipulatorsMaster systemsRedundant robotsSecondary controlTeleoperatedIntelligent systemsConference Object2-s2.0-8487233774810.1109/IROS.2012.638599010.1109/IROS.2012.6385990