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This is an implementation (mainly Matlab Simulink) of the haptic interface for 
teleoperation described in 
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Ghazaei Ardakani, M. M., M. Karlsson, K. Nilsson, A. Robertsson, 
and R.Johansson
(2018). “Master-slave coordination using virtual constraintsfor a redundant 
dual-arm haptic interface”. In:IEEE/RSJ Interna-tional Conference on Intelligent
Robots and Systems (IROS). October1–5, Madrid, Spain, pp. 8751–8757.
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A video is available here:
https://www.youtube.com/watch?v=4u57bEA4bqg

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Compile Simulink file:
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Open teleoperation.mdl
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Click on red box (you may have to adjust paths. You also need dynamics, see below.)
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Press ctrl+B to build (c-code is generated and compiled)
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An executable is generated into /tmp/$USER

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You also need the robot dynamics for this. It is not public. Please contact
Congibotics to get the dynamics for ABB Frida (YuMi prototype).
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