Conventional robots, like those used in industry and hazardous environments, are easy to model and control, but are too rigid ...

Reactive kinematic control in velocity space is closely related to the Jacobian presented in the system. However, if the Jacobian is rank-deficient, certain task-space velocities become unachievable, ...

In this article we introduce a method for telecontrol of nonredundant slave arms based on the adjoint Jacobian approach. Cartesian velocity command inputs are used to teleoperate the slave arm ...