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The aim of this work is to increase the range of applicability of teleoperated systems by means of the automatic cooperation of multiple slave robots which, controlled by a human operator, act as if they were a unique robot: a Multi-Robot Cooperation Platform for Task-Oriented Teleoperation, MRCP.
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AsterixDB cluster had one master, and multiple slave nodes.
A new modified strategy for estimating the external forces acting on the master and slave robots is developed.
This algorithm consists of multiple slave swarms and one master swarm.
The MS communicates with multiple slave PLCs at the same time.
The term 'tele-matched' means that the motions of master and slave robots are matched precisely by bilateral teleoperation.
To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots.
An architecture including a heartbeat pattern consists of a master server and multiple slave nodes.
A Hadoop cluster adopts the master slave architecture, where the master node is called the JobTracker, and the multiple slave nodes TaskTrackers.
A passive coordination control is then developed which uses the new outputs to state synchronize the master and slave robots in free motion.
The information exchange occurs only between the corresponding pairs, and the slave robots may physically interact among themselves either through a common tool or the manipulated object.
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