A system for replicating the behavior of a target robotic manipulator with respect to a payload and worksite, has a real-time simulator capturing the dynamics of the target robot manipulator; a mock-up of the payload and worksite; and an emulating robotic manipulator for interacting with said payload...http://www.google.fr/patents/US7688016?utm_source=gb-gplus-shareBrevet US7688016 - Robust impedance-matching of manipulators interacting with unknown environments
Robust impedance-matching of manipulators interacting with unknown environments
